Method and device for estimating self moving parameter of vehicle
A technology of motion parameters and self-motion, applied in the image field, can solve problems such as road area selection that is not well resolved
Active Publication Date: 2012-05-30
NEUSOFT REACH AUTOMOTIVE TECH SHANGHAI CO LTD
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Problems solved by technology
[0003] In vision-based vehicle ego-motion estimation techniques, most of the existing methods use all road areas to estimate ego-vehicle motion, but not all road areas are suitable for estimating ego-vehicle motion, such as: smooth road areas, existing The method does not solve the problem of road area selection very well
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Embodiment Construction
[0021] Embodiments of the present invention provide a method and device for estimating vehicle self-motion parameters.
[0022] In vision-based techniques for vehicle ego-motion estimation, the motion model of pixels is usually an important factor. Most of the current methods use the road plane assumption to establish the motion model. There are two main motion models: one is the two-parameter motion model, which decomposes the motion of the vehicle into translation along the optical axis and rotation on the road plane. The complexity is low, but because the translation perpendicular to the optical axis is ignored, the error increases when the vehicle turns or changes lanes; the other is a three-parameter motion model, which adds a vertical The translation in the direction of the optical axis improves the accuracy of the motion parameter estimation when the vehicle is turning while increasing the computational complexity. It separates the two translational motion parameters (t...
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The invention discloses a method for estimating self-motion parameters of a vehicle and a device thereof. In an embodiment of the method for estimating the vehicle self-motion parameters of the vehicle comprises the following steps: selecting an image block region which meets the preset condition inform the image block regions divided in a current frame; computing the corresponding coordinates ofthe image block region selected from the current frame in an adjacent frame according to a pre-established pixel motion model under the condition of different motion parameters; and computing confidence levels of the different motion parameters based on the pixel characteristics of the image block region selected from the current frame and the pixel characteristics of the corresponding coordinateposition in the adjacent frame, and determining the motion parameters with the highest confidence level as the self-motion parameters of the vehicle. The method of the embodiment can help improve theestimation precision of the motion parameters and lower the computation complexity.
Description
technical field [0001] The invention relates to the field of image technology, in particular to a method and device for estimating vehicle self-motion parameters. Background technique [0002] The technology of vision-based vehicle self-motion estimation is to fix the camera on the vehicle, and the camera will image the ground in real time to form an image, and then obtain the vehicle's motion parameters (including angular velocity, linear velocity, etc.) by analyzing the image. Since the ground plane is stationary, the change of the ground plane in the image is caused by the camera movement. In short, the change of the imaging position of the same point on the ground plane between two frames of images is caused by the camera movement. According to the camera imaging formula, the equation of pixel position change and camera motion can be established. Then, by finding the same pixels in the two frames of images, the motion of the camera between the two frames of images can b...
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IPC IPC(8): G06T7/20
CPCG06T2207/10016G06T2207/30252G06T7/204G06T2207/20021G06T7/248
Inventor 段勃勃刘威袁淮
Owner NEUSOFT REACH AUTOMOTIVE TECH SHANGHAI CO LTD