SOLUTION OF CAMERA REGISTRATION PROBLEM VIA 3D-2D PARAMETERIZED MODEL MATCHING FOR ON-ROAD NAVIGATION

Abstract

This paper presents a dynamical solution of camera registration problem for on-road navigation applications via a 3D-2D parameterized model matching algorithm. The traditional camera'fs three dimensional (3D) position and pose estimation algorithms have always employed fixed and known-structure models as well as the depth information to obtain the 3D-2D correlations, which is however unavailable for on-road navigation applications since there are no fixed models in the general road scene. With the constraints of road structure and on-road navigation features, this paper presents a 2D digital road-based road shape modeling algorithm. Dynamically generated multi-lane road shape models are used to match real road scenes to estimate the camera 3D position and pose data. Our algorithms have successfully simplified the 3D-2D correlation problem to the 2D-2D road model matching on the projective image. The algorithms proposed in this paper are validated with the experimental results of real road tests under different conditions and types of road.