Ego-Motion Computing for Vehicle Velocity Estimation

摘要

In this paper, we present a method for computing velocity using a single camera onboard a road vehicle, i.e. an automobile. The use of computer vision provides a reliable method to measure vehicle velocity based on ego-motion computation. By doing so, cumulative errors inherent to odometry-based systems can be reduced to some extent. Road lane markings are the basic features used by the algorithm. They are detected in the image plane and grouped in couples in order to provide geometrically constrained vectors that make viable the computation of vehicle motion in a sequence of images. The applications of this method can be mainly found in the domains of Robotics and Intelligent Vehicles.