Adaptive estimation procedures for dynamic road scene analysis
Włodzimierz Kasprzak, Hendrik J. Niemann, D. Wetzel · 2002
The common task of several processing steps in a vision system for autonomous road vehicle guidance is to stabilize the single image measurements of following image or scene features: contour motion, vanishing point, road class, moving object state and egomotion. An adaptive estimation procedure with linear or extended Kalman filter is applied for adaptive feature estimation. Redundant measurements and weighted averaging of short sequence measurements are proposed for robust detection and measurement error estimation.>