Scholars@Duke

Rapid position estimation and tracking for autonomous driving

Publication ,  Conference
Wang, PK; Torrione, PA; Collins, LM; Morton, KD
Published in: Proceedings of SPIE - The International Society for Optical Engineering
January 1, 2012
Published version (DOI)

A method is presented for determining the position and orientation of a vehicle from a single, color video taken from the hood of the vehicle, for the purpose of assisting its autonomous operation at very high speeds on rural roads. An implicit perspective transformation allows estimation of the vehicle's orientation and cross-road image features. From these, an adaptive road model is built and the horizontal position of the vehicle can be estimated. This method makes very few assumptions about the structure of the road or the path of the vehicle. In a realistic, simulated environment, good road model construction and vehicle position estimation are achieved at frame rates suitable for real-time high speed driving. © 2012 Copyright Society of Photo-Optical Instrumentation Engineers (SPIE).

Duke Scholars

Patrick Wang
Author Patrick Wang Electrical and Computer Engineering
Leslie M. Collins
Author Leslie M. Collins Electrical and Computer Engineering

Published In

Proceedings of SPIE - The International Society for Optical Engineering

DOI

10.1117/12.919317

ISSN

0277-786X

Publication Date

January 1, 2012

Volume

8387

Related Subject Headings

  • 5102 Atomic, molecular and optical physics
  • 4009 Electronics, sensors and digital hardware
  • 4006 Communications engineering
 

Citation

APA
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ICMJE
MLA
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Wang, P. K., Torrione, P. A., Collins, L. M., & Morton, K. D. (2012). Rapid position estimation and tracking for autonomous driving. In Proceedings of SPIE - The International Society for Optical Engineering (Vol. 8387). https://doi.org/10.1117/12.919317
Wang, P. K., P. A. Torrione, L. M. Collins, and K. D. Morton. “Rapid position estimation and tracking for autonomous driving.” In Proceedings of SPIE - The International Society for Optical Engineering, Vol. 8387, 2012. https://doi.org/10.1117/12.919317.
Wang PK, Torrione PA, Collins LM, Morton KD. Rapid position estimation and tracking for autonomous driving. In: Proceedings of SPIE - The International Society for Optical Engineering. 2012.
Wang, P. K., et al. “Rapid position estimation and tracking for autonomous driving.” Proceedings of SPIE - The International Society for Optical Engineering, vol. 8387, 2012. Scopus, doi:10.1117/12.919317.
Wang PK, Torrione PA, Collins LM, Morton KD. Rapid position estimation and tracking for autonomous driving. Proceedings of SPIE - The International Society for Optical Engineering. 2012.

Published In

Proceedings of SPIE - The International Society for Optical Engineering

DOI

10.1117/12.919317

ISSN

0277-786X

Publication Date

January 1, 2012

Volume

8387

Related Subject Headings

  • 5102 Atomic, molecular and optical physics
  • 4009 Electronics, sensors and digital hardware
  • 4006 Communications engineering