Rapid position estimation and tracking for autonomous driving

Patrick K. Wang; Peter A. Torrione; Leslie M. Collins; Kenneth D. Morton Jr.

doi:10.1117/12.919317

25 May 2012 Rapid position estimation and tracking for autonomous driving

Patrick K. Wang, Peter A. Torrione, Leslie M. Collins, Kenneth D. Morton Jr.

Proceedings Volume 8387, Unmanned Systems Technology XIV; 83871I (2012) https://doi.org/10.1117/12.919317
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

A method is presented for determining the position and orientation of a vehicle from a single, color video taken from the hood of the vehicle, for the purpose of assisting its autonomous operation at very high speeds on rural roads. An implicit perspective transformation allows estimation of the vehicle's orientation and cross-road image features. From these, an adaptive road model is built and the horizontal position of the vehicle can be estimated. This method makes very few assumptions about the structure of the road or the path of the vehicle. In a realistic, simulated environment, good road model construction and vehicle position estimation are achieved at frame rates suitable for real-time high speed driving.

Citation Download Citation

Patrick K. Wang, Peter A. Torrione, Leslie M. Collins, and Kenneth D. Morton Jr. "Rapid position estimation and tracking for autonomous driving", Proc. SPIE 8387, Unmanned Systems Technology XIV, 83871I (25 May 2012); https://doi.org/10.1117/12.919317

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