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Open AccessArticle
A Vehicle Monocular Ranging Method Based on Camera Attitude Estimation and Distance Estimation Networks
by
Jun Liu
Jun Liu * and
Duo Xu
Duo Xu
School of Automotive and Transportation Engineering, Jiangsu University, Zhenjiang 212013, China
*
Author to whom correspondence should be addressed.
World Electr. Veh. J. 2024, 15(8), 339; https://doi.org/10.3390/wevj15080339 (registering DOI)
Submission received: 18 June 2024
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Revised: 15 July 2024
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Accepted: 24 July 2024
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Published: 27 July 2024
Abstract
A monocular ranging method for forward vehicles in intelligent driving is proposed. This method measures vehicle distance more accurately under the condition of a single camera and can estimate camera attitude in real-time. For the estimation of camera pitch and yaw angles, it is achieved using road vanishing points. The images collected by the camera are sequentially processed through the Roberts operator amplitude calculation, feature point extraction, feature line segment generation, road vanishing point voting, and estimation of camera attitude to obtain pitch and yaw angles. A distance estimation network was designed, which is divided into multiple levels based on image size and incorporates image feature, integrating vehicle grounding point, and vehicle width information, effectively improving ranging accuracy. Finally, validation was conducted on KITTI data, with a relative error (AbsRel) of 8.3%. Additionally, the TuSimple dataset and continuous driving scenarios were also validated, resulting in improved performance compared to previous algorithms.
Share and Cite
MDPI and ACS Style
Liu, J.; Xu, D.
A Vehicle Monocular Ranging Method Based on Camera Attitude Estimation and Distance Estimation Networks. World Electr. Veh. J. 2024, 15, 339.
https://doi.org/10.3390/wevj15080339
AMA Style
Liu J, Xu D.
A Vehicle Monocular Ranging Method Based on Camera Attitude Estimation and Distance Estimation Networks. World Electric Vehicle Journal. 2024; 15(8):339.
https://doi.org/10.3390/wevj15080339
Chicago/Turabian Style
Liu, Jun, and Duo Xu.
2024. "A Vehicle Monocular Ranging Method Based on Camera Attitude Estimation and Distance Estimation Networks" World Electric Vehicle Journal 15, no. 8: 339.
https://doi.org/10.3390/wevj15080339
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