Li, X.; Kim, H.; Kakani, V.; Kim, H. Multilayer Perceptron-Based Error Compensation for Automatic On-the-Fly Camera Orientation Estimation Using a Single Vanishing Point from Road Lane. Sensors2024, 24, 1039.
Li, X.; Kim, H.; Kakani, V.; Kim, H. Multilayer Perceptron-Based Error Compensation for Automatic On-the-Fly Camera Orientation Estimation Using a Single Vanishing Point from Road Lane. Sensors 2024, 24, 1039.
Li, X.; Kim, H.; Kakani, V.; Kim, H. Multilayer Perceptron-Based Error Compensation for Automatic On-the-Fly Camera Orientation Estimation Using a Single Vanishing Point from Road Lane. Sensors2024, 24, 1039.
Li, X.; Kim, H.; Kakani, V.; Kim, H. Multilayer Perceptron-Based Error Compensation for Automatic On-the-Fly Camera Orientation Estimation Using a Single Vanishing Point from Road Lane. Sensors 2024, 24, 1039.
Abstract
This study introduces a multilayer perceptron (MLP) error compensation method for real-time camera orientation estimation, leveraging a single vanishing point and road lane lines within a steady-state framework. The research emphasizes cameras with a roll angle of 0°, predominant in autonomous vehicle contexts. The methodology estimates pitch and yaw angles using a single image and integrates two Kalman filter models with inputs from image points (u, v) and derived angles (pitch, yaw). Performance metrics, including AE, MINE, MAXE, SSE, and STDEV, were utilized, testing the system in both simulator and real-vehicle environments. The outcomes indicate that our method notably enhances the accuracy of camera orientation estimations, consistently outpacing competing techniques across varied scenarios. This method’s potency is evident in its adaptability and precision, holding promise for advanced vehicle systems and real-world applications.
Keywords
Autonomous vehicles; camera orientation estimation; vanishing point; camera extrinsic parameters
Subject
Engineering, Electrical and Electronic Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
