Model-based Vehicular Motion and Structure Estimation

This paper presents a model-based algorithm for estimating vehicle motion and structure from a long sequence of images. In addition to employing a simple kinematic law suitable for modeling the steering control, the unstabilized behavior of a vehicular motion due to the uneven terrain is taken into account. A vehicle model which accounts for bounce, pitch and roll is used. With the aid of inertial sensors such as accelerometers and by tracking a set of points over the image sequence, a feature-based approach is proposed. Simulation results for a particular vehicular motion are presented.

Authors

• Yi-Sheng Yao
• Rama Chellappa

Keywords

• Motion estimation
• Kinematics
• Cameras
• Image sequences
• Navigation
• Layout
• Robustness
• Space vehicles
• Automation
• Educational institutions
• Vehicular Motion
• Accelerometer
• Inertial Measurement Unit
• Vehicle Motion
• Coordinate System
• Structural Parameters
• Kinetic Energy
• Equations Of Motion
• Angular Velocity
• Rigid Body
• Longitudinal Axis
• Force Generation
• Motion Parameters
• Pitch Angle
• Roll Angle
• Recursive Algorithm
• Lagrange Equations
• Navigation Task
• Lateral Motion
• Vehicle Movement
• Principle Axis
• Rotational Energy
• Terrain Roughness
• Measurement Equation
• Robot Navigation
• Relative Orientation