An approach for simultaneous estimation of pitch angle and lane width from the road image based on Kalman filtering is presented. The pitch angle is modelled by a damped harmonical oscillator with given frequency, time constant as well as pitch offset. On one hand, a linear dynamical model is assumed for the change in the lane width. Estimations are validated by numerical simulations. Good results for pitch and lane width estimation are generated from the evaluation of video scenes shot from a sedan vehicle.
|Number of pages||8|
|Publication status||Published - 1994|
|Event||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3) - Munich, Ger|
Duration: 1994 Sep 12 → 1994 Sep 16
|Other||Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems. Part 3 (of 3)|
|Period||94/9/12 → 94/9/16|
ASJC Scopus subject areas