Pose estimation for vehicles based on binocular stereo vision in urban traffic

Abstract

Extensive research has been carried out in the field of driver assistance systems in order to increase road safety and comfort. We propose a pose estimation algorithm based on binocular stereo vision for calculating the pose of on-road vehicles and providing reference for the decision of driving assistant system, which is useful for behavior prediction for vehicles and collision avoidance. Our algorithm is divided into three major stages. In the first part, the vehicle is detected and roughly located on the disparity map. In the second part, feature points on the vehicle are extracted by means of license plate detection algorithm. Finally, pose information including distance, direction and its variation is estimated. Experimental results prove the feasibility of the algorithm in complex traffic scenarios.