Comparison of Mono Camera-based Static Obstacle Position Estimation Methods for Automotive Application
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Citations
Vital Sign Monitoring in Car Seats Based on Electrocardiography, Ballistocardiography and Seismocardiography: A Review.
Camera-based distance estimation forautonomous vehicles
Software-in-the-loop simulation of the forerunner UAV system
Single Filter Lead Vehicle Distance and Velocity Estimation with Multiple Hypothesis Testing
References
Camera-based distance estimation forautonomous vehicles
Monocular Vision-based Aircraft Ground Obstacle Classification *
Distance estimation between vehicles based on fixed dimensions licence plates
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Frequently Asked Questions (14)
Q2. What have the authors stated for future works in "Comparison of mono camera-based static obstacle position estimation methods for automotive application" ?
The first contribution of the paper is to extend the methods to consider N data points and variable velocity, however only three methods could be extended for variable velocity. Future work should include closed form sensitivity analysis of the methods to underline these results, consideration of measurement errors regarding velocity and vehicle position and the extension of the methods for moving obstacle if possible.
Q3. What is the added longitudinal velocity disturbance?
The added longitudinal velocity disturbance is: ∆Vz = 1.34 sin ( 2π T + π 2 ) [m/s] with T = 3sec period time whilethe lateral is: ∆Vx = 0.4 sin ( 2π T + π 2 ) [m/s].
Q4. What was the evaluation criteria for the SAA method?
The evaluation criteria was the hitting speed of the obstacle (if the emergency braking does not stop completely the own vehicle because of estimation errors) and the precision of side distance and size estimation.
Q5. What are the angular disturbances used to test the camera angular alignment sensitivity?
pitch or yaw angle sinusoidal disturbances were applied to test the camera angular alignment sensitivity of the methods.
Q6. How is the applicability of the own method tested?
The applicability limits of the own method are 90km/h for 20km/h and 100km/h for 30km/h hitting speed limit with the constant velocity formulas, which decreases to 70km/h and 90km/h in the variable speed cases respectively.
Q7. What is the braking model in [16]?
The braking model in [16] was modified to have three parts: distance traveled during system delay S2 = V0t2, distance traveled until deceleration builds up S3 = V0t3 + aa t33 6 and distance traveled during constant deceleration S4 = V3t4 +ax t24 2 .
Q8. What is the way to estimate the TTC?
the case of time-varying velocity can not be included into this framework as it does not comply with TTC estimation.
Q9. What is the main conclusion from the test campaign?
The overall conclusion form the test campaign is that the own SAA method is the most reliable considering also the attitude disturbances which are inevitable with vehicles and even a good attitude compensation system can left 1◦ error in the parameters.
Q10. What is the simplest formula to calculate the side distance?
the side distance can be calculated as X0 = CPA ·WFirst, the applicability of the constant velocity formulas was tested simulating constant vehicle speed.
Q11. What should be the future work of the SAA method?
Future work should include closed form sensitivity analysis of the methods to underline these results, consideration of measurement errors regarding velocity and vehicle position and the extension of the methods for moving obstacle if possible.
Q12. What is the typical lane width for a car?
The considered vehicle widths in lane design are 1.75m for car and 2.55m for truck as shown in [14] and a typical lane width can be 3m.
Q13. What is the basic formula for calculating the distances between the two points?
The basic formulas relate forward (Z) and side distances (X) and the object size (W) to the measurable image parameters (x,S):1Sk = Zk fHW , xk Sk = Xk W(11)Considering Vx = 0 side velocity (Xk = X0 = const), Vz < 0 forward velocity and the camera projection model in Fig. 1:1 Sk = − Vz fHW TTCk = Vz fHW︸ ︷︷ ︸ a tk − Vz fHW tC︸ ︷︷ ︸ b xk Sk = CPA(12)The first expression gives a possibility to fit line on the points 1/Sk, tk and so obtain the absolute time of collision as tC = −b/a and ˆTTCk = tC − tk.
Q14. What is the method to evaluate the distance of a vehicle?
Another test was the evaluation of variable speed formulas with ramp up (20 to 130km/h) or down (130 to 20km/h) vehicle speed profile reaching the end value at the obstacle.