Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study on Vehicle Ego-motion Estimation by Optimizing a Vehicle Platform

차량 플랫폼에 최적화한 자차량 에고 모션 추정에 관한 연구

  • Song, Moon-Hyung (School of Mechanical Engineering, Korea University of Technology and Education) ;
  • Shin, Dong-Ho (School of Mechanical Engineering, Korea University of Technology and Education)
  • 송문형 (한국기술교육대학교 기계공학부) ;
  • 신동호 (한국기술교육대학교 기계공학부)
  • Received : 2015.02.13
  • Accepted : 2015.07.09
  • Published : 2015.09.01
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Abstract

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

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References

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