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Camera-based distance estimation for autonomous vehicles

Irmisch, Patrick (2017) Camera-based distance estimation for autonomous vehicles. Master's, Technische Universität Berlin.

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Abstract

The aim of this work is the investigation of camera-based techniques for distance estimation between two autonomous vehicles. While both monocular- and stereo-camera methods are explored, this study focuses on the usage of fiducial markers. Therefore, existing fiducial markers are discussed and selected. Based on this selection, three configurations of markers are proposed and applied to different distance estimation methods. The chosen markers are AprilTag and WhyCon. Their distances are estimated by means of Perspective-n-Point, 3D position calculation of a circle and stereo-based triangulation. Within this study the presented methods are evaluated based on their distance estimation accuracy and applicable range. They are compared with each other and with the common stereo method Semi-Global-Matching. Moreover, the influence of uncertainties is explored with reference to geometrical calibration. A setup is presented to evaluate the techniques based on real-world and simulated data. In order to gain insights on the methods properties, a simulation is used that facilitates variation of the image data. In addition, a Monte-Carlo-Simulation allows to model calibration uncertainty. The obtained observations are substantiated based on two real-world experiments. The results demonstrate the potential of fiducial markers for relative distance estimation of vehicles in terms of high accuracy and low uncertainty. The lower sensitivity to uncertainties in camera calibration makes fiducial markers preferable to stereo methods.

Item URL in elib:https://elib.dlr.de/116211/
Document Type:Thesis (Master's)
Title:Camera-based distance estimation for autonomous vehicles
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Irmisch, PatrickPatrick.Irmisch (at) dlr.deUNSPECIFIED
Date:30 December 2017
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:80
Status:Unpublished
Keywords:stereo Semi-Global-Matching Fiducial Markers
Institution:Technische Universität Berlin
Department:Department Computer Vision and Remote Sensing
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Earth Observation
DLR - Research area:Raumfahrt
DLR - Program:R EO - Erdbeobachtung
DLR - Research theme (Project):R - Vorhaben Optische Technologien und Anwendungen, V - Next Generation Train III (old), R - Vorhaben Optische Sensorik - Theorie, Kalibration, Verifikation, R - Vorhaben Optische Fernerkundung für sicherheitsrelevante Anwendungen
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems
Institute of Optical Sensor Systems > Real-Time Data Processing
Deposited By: Wohlfeil, Jürgen
Deposited On:30 Nov 2017 08:34
Last Modified:31 Jul 2019 20:13

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