A Position Estimation Based on Tire-Road Contact Points Considering Displacements of Two Concentric Circles on a Circular Fisheye Image

Abstract

In this paper, we propose a new method for estimating the positions on a road based on detected tire-road contact points taking the distortion on circular fisheye images into consideration. In our proposed method, we use the distortion parameters of two concentric circles composed of the inner wheel and the outer tire by considering projection system of fisheye lens, and the searching the gray scale profiles in the vertical direction are derived from each pixel that is the outline of the wheel region. The effectiveness of the proposed method is confirmed through experimental results.