Detection of Tire-Road Contact Point for Vehicle Position Estimate Considering Shape Distortion in a Circular Fisheye Image

Author

Hirose, Kenichi ; Toriu, Takashi ; Hama, Hiromitsu

Author_Institution

Dept. of Inf. Eng., Coll. of Ind. Technol., Amagasaki, Japan

fYear

2009

fDate

12-14 Sept. 2009

Firstpage

178

Lastpage

181

Abstract

In this paper, we propose a new method for detecting tire-road contact points and estimating the position of a vehicle on a road taking the distortion in a circular fisheye image into consideration. In our proposed method, we use the distortional parameter of two concentric circles composed of the inner wheel and the outer tire by considering projection system of fisheye lens, and the searching the gray scale profile in the distortional direction are derived from each pixel that is outer the outline of the wheel region. And it is confirmed that the proposed method is effective in circular fisheye image by experimental results.

Keywords

automobiles; distortion; feature extraction; object detection; photographic lenses; road traffic; traffic engineering computing; circular fisheye camera image; concentric circle; fisheye lens projection system; gray scale profile searching; shape distortional parameter; tire-road contact point detection; traffic monitoring system; vehicle position estimation; wheel region extraction; Automotive engineering; Cameras; Distortion; Intelligent vehicles; Lenses; Road vehicles; Shape; Tires; Vehicle detection; Wheels; concentric circles; distortional shape; fisheye image; position estimation; tire-road contact point;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Information Hiding and Multimedia Signal Processing, 2009. IIH-MSP '09. Fifth International Conference on

Conference_Location

Kyoto

Print_ISBN

978-1-4244-4717-6

Electronic_ISBN

978-0-7695-3762-7

Type

conf

DOI

10.1109/IIH-MSP.2009.229

Filename

5337329