VAVM: A Flexible Technique for Variable-Angle Around View Monitor System Towards Articulated Engineering Vehicle | IEEE Journals & Magazine | IEEE Xplore

VAVM: A Flexible Technique for Variable-Angle Around View Monitor System Towards Articulated Engineering Vehicle


Abstract:

The around view monitor system (AVM) has been widely used in passenger vehicles. However, for articulated engineering vehicles (AEV), AVM is difficult to directly apply d...Show More

Abstract:

The around view monitor system (AVM) has been widely used in passenger vehicles. However, for articulated engineering vehicles (AEV), AVM is difficult to directly apply due to the long body and the articulation angle. In this paper, a flexible technique for variable-angle around view monitor system (VAVM) towards the AEV is proposed, which includes static calibration and dynamic execution. In the static calibration stage, the camera poses in the vehicle coordinate system with the joint of AEV as the coordinate origin can be calibrated using irregularly placed multiple checkerboards without knowing their relative position. This flexible calibration approach makes the variable-angle mapping from the fisheye image to the bird’s eye view image can be directly obtained by updating the camera poses on the tractor according to the articulation angle when the AEV turns. In the dynamic execution stage, an optimization algorithm based on minimizing the photometric error is designed to reduce the cumulative error of the angle sensor. Finally, all the bird’s eye view images are mosaiced and fused to a variable-angle around view image (VAVI). The experimental results show that the VAVM can output globally balanced and seamless VAVIs under different angles and visual environment conditions. Furthermore, the practicability of VAVM is also demonstrated by a real AEV.
Published in: IEEE Transactions on Vehicular Technology ( Volume: 71, Issue: 4, April 2022)
Page(s): 3556 - 3568
Date of Publication: 07 January 2022

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