Wide-baseline omni-stereo at junctions: Extrinsic auto-calibration, trajectory and speed estimation

Datondji, Sokèmi René Emmanuel; Dupuis, Yohan; Subirats, Peggy; Vasseur, Pascal

doi:10.1109/itsc.2017.8317771

Cited by 1 publication

(2 citation statements)

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“…This work shows that in order to reconstruct the 3D trajectory of the vehicles with monocular cameras, it is advantageous to use the visual analysis strategy adapted to a flat world of crabs. In general, it is not possible to reconstruct 3D information from a 2D image, unless you have at least two cameras (stereoscopic vision, [27]); or a monocular camera complemented with some other type of sensor (lidar, radar, etc). Therefore, the Uca strategy is interesting since it compensates the lack of distance information by assuming a flat model for the environment.…”

Section: Geometric Model Of the Problem And Back-projection To The Gr...mentioning

confidence: 99%

“…Wang et al [26], study the problem of real-time tracking and counting of multiple vehicles with OCs. Datondji et al [27] , study the problems of extrinsic auto-calibration and velocity estimation using a stereoscopic system with fisheye cameras. Finally, Arroyo et al [28] analyzed the feasibility of using OCs to measure the geographic position of vehicles at ground level, together with an analysis of the measurement uncertainty.…”

Section: Introductionmentioning

confidence: 99%

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A monocular wide-field speed sensor inspired by the crabs’ visual system for traffic analysis

et al. 2023

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The development of visual sensors for traffic analysis can benefit from mimicking two fundamental aspects of the visual system of crabs: their panoramic vision and their visual processing strategy adapted to a flat world. First, the use of omnidirectional cameras in urban environments allows for analyzing the simultaneous movement of many objects of interest over broad areas. This would reduce the costs and complications associated with infrastructure: installation, synchronization, maintenance, and operation of traditional vision systems that use multiple cameras with a limited field of view. Second, in urban traffic analysis, the objects of interest (e.g., vehicles and pedestrians) move on the ground surface. This constraint allows the calculation of the 3D trajectory of the vehicles using a single camera without the need to use binocular vision techniques. The main contribution of this work is to show that the strategy used by crabs to visually analyze their habitat (monocular omnidirectional vision with the assumption of a flat world ) is useful for developing a simple and effective method to estimate the speed of vehicles on long trajectories in urban environments. It is shown that the proposed method estimates the speed with a root mean squared error of 2.7 km/h.

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Section: Geometric Model Of the Problem And Back-projection To The Gr...mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A monocular wide-field speed sensor inspired by the crabs’ visual system for traffic analysis

et al. 2023

View full text Add to dashboard Cite

show abstract

Wide-baseline omni-stereo at junctions: Extrinsic auto-calibration, trajectory and speed estimation

Cited by 1 publication

References 14 publications

A monocular wide-field speed sensor inspired by the crabs’ visual system for traffic analysis

A monocular wide-field speed sensor inspired by the crabs’ visual system for traffic analysis

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