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Research on an Automatic Extrinsic Parameter Calibration Method for Vision Navigation Camera on Structured Road

Author: WuMeng
Tutor: AnXiangJing
School: National University of Defense Science and Technology
Course: Control Science and Engineering
Keywords: Computer Vision Automatic camera calibration Extended Kalman filter
CLC: TP391.41
Type: Master's thesis
Year: 2007
Downloads: 102
Quote: 1
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Abstract


Autonomous driving one of the important tasks of the visual navigation system of the vehicle is given to the location information of the road and obstacles in the environment , to obtain the required parameters of the vehicle camera and these position information . In this paper, the highway environment , the camera outside the parameters of the visual navigation of autonomous driving vehicles with automatic calibration method established a complete in-car camera outside the parameters of automatic calibration algorithm and experimental verification of the use of the red flag autonomous driving system . The article first vehicle operating environment , the road goal i.e. lane mark line description of the in -vehicle camera image coordinate system in the form, and then parameterized description given highway horizontal road . In this paper, the particularity of the camera calibration problem in the process of self- driving vehicles visual navigation camera calibration and automatic calibration , automatic calibration . Based on the relationship between the image coordinate system and body coordinate system under the road model road parameters , we study the movement of vehicles in the environmental world , road signs line changes , and changes of the camera pose three extended Kalman filter (EKF) combined using the extended Kalman filter forecast function arguments are given, thus completing the part outside the parameters of the automatic calibration function . Finally, the proposed algorithm is verified through simulation and real vehicle test , the experimental results show that , the vehicle camera outside the parameters automatic calibration method is feasible and effective .

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
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