Abstract
Car pose estimation is an essential part of different applications, including traffic surveillance, Augmented Reality (AR) guides or inductive charging assistance systems. For many systems, the accuracy of the determined pose is important. When displaying AR guides, a small estimation error can result in a different visualization, which will be directly visible to the user. Inductive charging assistance systems have to guide the driver as precise as possible, as small deviations in the alignment of the charging coils can decrease charging efficiency significantly. For accurate pose estimation, matches between image coordinates and 3d real-world points have to be determined. Since wheels are a common feature of cars, we use the wheelbase and rim radius to compute those real-world points. The matching image coordinates are obtained by three different approaches, namely the circular Hough-Transform, ellipse-detection and a neural network. To evaluate the presented algorithms, we perform different experiments: First, we compare their accuracy and time performance regarding wheel-detection in a subset of the images of The Comprehensive Cars (CompCars) dataset [37]. Second, we capture images of a car at known positions, and run the algorithms on these images to estimate the pose of the car. Our experiments show that the neural network based approach is the best in terms of accuracy and speed. However, if training of a neural network is not feasible, both other approaches are accurate alternatives.
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Acknowledgment
This research is funded by the Bundesministerium für Wirtschaft und Energie as part of the TALAKO project [22] (grant number 01MZ19002A).
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Roch, P., Shahbaz Nejad, B., Handte, M., Marrón, P.J. (2021). Car Pose Estimation Through Wheel Detection. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2021. Lecture Notes in Computer Science(), vol 13017. Springer, Cham. https://doi.org/10.1007/978-3-030-90439-5_21
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DOI: https://doi.org/10.1007/978-3-030-90439-5_21
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