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Stereo Camera Calibration Accuracy in Real-time Car Angles Estimation for Vision Driver Assistance and Autonomous Driving
Umeå University, Faculty of Science and Technology, Department of Physics.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The automotive safety company Veoneer are producers of high end driver visual assistance systems, but the knowledge about the absolute accuracy of their dynamic calibration algorithms that estimate the vehicle’s orientation is limited.

In this thesis, a novel measurement system is proposed to be used in gathering reference data of a vehicle’s orientation as it is in motion, more specifically the pitch and roll angle of the vehicle. Focus has been to estimate how the uncertainty of the measurement system is affected by errors introduced during its construction, and to evaluate its potential in being a viable tool in gathering reference data for algorithm performance evaluation.

The system consisted of three laser distance sensors mounted on the body of the vehicle, and a range of data acquisition sequences with different perturbations were performed by driving along a stretch of road in Linköping with weights loaded in the vehicle. The reference data were compared to camera system data where the bias of the calculated angles were estimated, along with the dynamic behaviour of the camera system algorithms. The experimental results showed that the accuracy of the system exceeded 0.1 degrees for both pitch and roll, but no conclusions about the bias of the algorithms could be drawn as there were systematic errors present in the measurements.

Abstract [sv]

Bilsäkerhetsföretaget Veoneer är utvecklare av avancerade kamerasystem inom förarassistans, men kunskapen om den absoluta noggrannheten i deras dynamiska kalibreringsalgoritmer som skattar fordonets orientering är begränsad.

I denna avhandling utvecklas och testas ett nytt mätsystem för att samla in referensdata av ett fordons orientering när det är i rörelse, mer specifikt dess pitchvinkel och rollvinkel. Fokus har legat på att skatta hur osäkerheten i mätsystemet påverkas av fel som introducerats vid dess konstruktion, samt att utreda dess potential när det kommer till att vara ett gångbart alternativ för att samla in referensdata för evaluering av prestandan hos algoritmerna.

Systemet bestod av tre laseravståndssensorer monterade på fordonets kaross. En rad mätförsök utfördes med olika störningar introducerade genom att köra längs en vägsträcka i Linköping med vikter lastade i fordonet. Det insamlade referensdatat jämfördes med data från kamerasystemet där bias hos de framräknade vinklarna skattades, samt att de dynamiska egenskaperna kamerasystemets algoritmer utvärderades. Resultaten från mätförsöken visade på att noggrannheten i mätsystemet översteg 0.1 grader för både pitchvinklarna och rollvinklarna, men några slutsatser kring eventuell bias hos algoritmerna kunde ej dras då systematiska fel uppstått i mätresultaten.

Place, publisher, year, edition, pages
2018. , p. 85
Keywords [en]
Stereo camera, camera calibration, pnp-problem, laser metrology, Monte Carlo simulations, uncertainty estimation, camera pose estimation, measurement system, von-mises simulations, circular statistics
National Category
Vehicle Engineering Signal Processing Other Electrical Engineering, Electronic Engineering, Information Engineering Computer Vision and Robotics (Autonomous Systems) Other Physics Topics
Identifiers
URN: urn:nbn:se:umu:diva-149443OAI: oai:DiVA.org:umu-149443DiVA, id: diva2:1221909
External cooperation
Veoneer AB
Subject / course
Examensarbete i teknisk fysik
Educational program
Master of Science Programme in Engineering Physics
Supervisors
Examiners
Available from: 2018-06-21 Created: 2018-06-20 Last updated: 2018-06-21Bibliographically approved

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