Estimating Vehicle Pose Relative to Current Lane from Fisheye Camera System

Abstract

A fisheye camera system is usually used for eliminating the blind spot around a vehicle. In this paper we propose a method of estimating vehicle pose relative to current lane from the side fisheye cameras of such a fisheye camera system. The side fisheye camera with hemispherical field of view can observe the side boundary of the vehicle and the lane markings simultaneously. An algorithm of estimating the distance and the relative orientation between the vehicle and the current lane is presented based on the side boundary of the vehicle and the nearest lane marking. The experimental results are also presented to show the effectiveness of the proposed method.