Camera orientation estimation using motion based vanishing point detection for automatic driving assistance system

Abstract

This paper presents a camera orientation estimation method based on 3-line RANSAC using motion vector in a driving straight ahead vehicle. The proposed method consists of three steps: i) motion vector and z-axis vanishing point estimation using feature extraction and matching, ii) line detection and classification using 3-line RANSAC algorithm, and iii) camera orientation estimation with vanishing points using classified lines. The experimental result shows proposed method effectively estimate camera orientation parameter. Therefore, the proposed method can be applied in vehicle systems for automatic driving assistance system.