Satellite markers: a simple method for ground truth car pose on stereo video

Gustavo Gil; Giovanni Savino; Simone Piantini; Marco Pierini

doi:10.1117/12.2309577

13 April 2018 Satellite markers: a simple method for ground truth car pose on stereo video

Gustavo Gil, Giovanni Savino, Simone Piantini, Marco Pierini

Proceedings Volume 10696, Tenth International Conference on Machine Vision (ICMV 2017); 1069620 (2018) https://doi.org/10.1117/12.2309577
Event: Tenth International Conference on Machine Vision, 2017, Vienna, Austria

Abstract

Artificial prediction of future location of other cars in the context of advanced safety systems is a must. The remote estimation of car pose and particularly its heading angle is key to predict its future location. Stereo vision systems allow to get the 3D information of a scene. Ground truth in this specific context is associated with referential information about the depth, shape and orientation of the objects present in the traffic scene. Creating 3D ground truth is a measurement and data fusion task associated with the combination of different kinds of sensors. The novelty of this paper is the method to generate ground truth car pose only from video data. When the method is applied to stereo video, it also provides the extrinsic camera parameters for each camera at frame level which are key to quantify the performance of a stereo vision system when it is moving because the system is subjected to undesired vibrations and/or leaning. We developed a video post-processing technique which employs a common camera calibration tool for the 3D ground truth generation. In our case study, we focus in accurate car heading angle estimation of a moving car under realistic imagery. As outcomes, our satellite marker method provides accurate car pose at frame level, and the instantaneous spatial orientation for each camera at frame level.

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Gustavo Gil, Giovanni Savino, Simone Piantini, and Marco Pierini "Satellite markers: a simple method for ground truth car pose on stereo video", Proc. SPIE 10696, Tenth International Conference on Machine Vision (ICMV 2017), 1069620 (13 April 2018); https://doi.org/10.1117/12.2309577

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KEYWORDS

Satellites

Cameras

Video

Calibration

Imaging systems

Safety

Stereoscopic cameras

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