Onboard camera pose estimation in augmented reality space for direct visual navigation

Zhencheng Hu; Keiichi Uchimura

doi:10.1117/12.479662

30 May 2003 Onboard camera pose estimation in augmented reality space for direct visual navigation

Zhencheng Hu, Keiichi Uchimura

Author Affiliations +

Proceedings Volume 5006, Stereoscopic Displays and Virtual Reality Systems X; (2003) https://doi.org/10.1117/12.479662
Event: Electronic Imaging 2003, 2003, Santa Clara, CA, United States

Abstract

This paper presents a dynamical solution of the registration problem for on-road navigation applications via 3D-2D parameterized model matching algorithm. Traditional camera’s three dimensional (3D) position and pose estimation algorithms always employ the fixed and known-structure models as well as the depth information to obtain the 3D-2D correlations, which is however unavailable for on-road navigation applications since there are no fixed models in the general road scene. With the constraints of road structure and on-road navigation features, this paper presents a 2D digital road map based road shape modeling algorithm. Dynamically generated multi-lane road shape models are used to match real road scene to estimate camera 3D position and pose data. Our algorithms successfully simplified the 3D-2D correlation problem to the 2D-2D road model matching on the projective image. The algorithms proposed in this paper are validated with the experimental results from real road test under different conditions and types of road.

Citation Download Citation

Zhencheng Hu and Keiichi Uchimura "Onboard camera pose estimation in augmented reality space for direct visual navigation", Proc. SPIE 5006, Stereoscopic Displays and Virtual Reality Systems X, (30 May 2003); https://doi.org/10.1117/12.479662

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