ICRA 2011 Paper Abstract


Paper TuP214.3

Manz, Michael (University of the Bundeswehr Munich), Luettel, Thorsten (University of the Bundeswehr Muenchen), von Hundelshausen, Felix (UniBW), Wuensche, Hans J (UniBw Munich)

Monocular Model-Based 3D Vehicle Tracking for Autonomous Vehicles in Unstructured Environment

Scheduled for presentation during the Regular Sessions "Visual Navigation IV" (TuP214), Tuesday, May 10, 2011, 15:55−16:10, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Visual Tracking, Intelligent Transportation Systems


In this paper we describe a novel approach to model-based monocular vehicle tracking out of a moving vehicle using active vision. The designed algorithm can cope with cluttered color images, complex lighting conditions as well as partial occlusion of the leading vehicle and is able to detect and track a vehicle even within unstructured offroad environments. Thanks to the used 3D model which describes the characteristic vehicle geometry and appearance in terms of vertexes, edges and colored surfaces, no special visual markers are required. The knowledge of vehicle's geometry and appearance gained from the model are used within a particle filter to estimate the 6DoF position relative to the ego vehicle, thereby fusing edge as well as color information. We successfully use the proposed algorithm for pure vision based autonomous offroad convoy driving.



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