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Proceedings of the 18th IFAC World Congress

DOI: 10.3182/20110828-6-it-1002.03037

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Vehicle Motion Estimation Using an Infrared Camera

Journal article published in 2011 by Emil Nilsson, Christian Lundquist, Thomas B. Schön ORCID, David Forslund, Jacob Roll
This paper is made freely available by the publisher.
This paper is made freely available by the publisher.

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Abstract

This paper is concerned with vehicle motion estimation. The problem is formulated as a sensor fusion problem, where the vehicle motion is estimated based on the information from a far infrared camera, inertial sensors and the vehicle speed. This information is already present in premium cars. We are concerned with the off-line situation and the approach taken is to formulate the problem as a nonlinear least squares problem. In order to illustrate the performance of the proposed method experiments on rural roads in Sweden during night time driving have been performed. The results clearly indicates the efficacy of the approach. ; CADICS