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《Journal of Transportation Systems Engineering and Information Technology》 2016-01
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Computation of Road Curvature from a Sequence of Consecutive In-vehicle Images

HU Zhao-zheng;ZHANG Lan;BAI Dong-fang;ZHAO Bin;ITS Research Center,Wuhan University of Technology;School of Information Engineering,Hebei University of Technology;  
A novel method to compute road curvature is proposed by using a sequence of consecutive log images. We first calibrate the in- vehicle camera system and reconstruct road lane lines. The error analysis model is applied to evaluate the reconstructed 3D data points such that only those data points with low reconstruction errors are utilized for curvature computation. The reconstructed curves from consecutive log images are registered with Iterative Closest Point(ICP) algorithm and mapped into a reference coordinate system. The 3D data on the mapped curves are finally used for circle fitting to compute the radius and the curvature. The proposed curvature computation method is tested with real video log images on two different road segments with the corresponding radii of 96 m and 430 m. The computation results demonstrate that the proposed method is both accurate and practical to compute the curvature. Furthermore, it outperforms the single-image based method for slow curvature computation.
【Fund】: 国家自然科学基金(51208168);; 湖北省自然科学基金(2015CFB252);; 武汉市青年科技晨光计划(2015070404010196);; 道路交通安全公安部重点实验室开放基金(2015ZDSYSKFKT04);; 天津市自然科学基金(13JCYBJC37700)~~
【CateGory Index】: U495
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【Citations】
Chinese Journal Full-text Database 1 Hits
1 MA Zhao-you1,LI Gang2,LI Ping-fan1(1.Traffic Management Research Institute of Public Security Ministry,Wuxi 214151,Jiangsu,China;2.Traffic Management Bureau of Public Security Ministry,Beijing 100741,China);Traffic Safety Analysis on Speed and Speed Limit[J];交通运输系统工程与信息;2007-03
【Co-citations】
Chinese Journal Full-text Database 4 Hits
1 ZHANG Jie 1 SUN Xiaoduan 2 XIONG Bin 1 HE Yulong 2 LIU Xiaoming 2(1.Bazhong Transport Bureau,Bazhong636000,Sichuan,China;2.Beijing Key Laboratory of Traffic Engineering,Beijing University of Technology,Beijing100022,China);Relationship between Level of Service and Traffic Safety on Freeway[J];交通信息与安全;2012-05
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【Secondary Citations】
Chinese Journal Full-text Database 2 Hits
1 MA Zhaoyou WANG Jianqiang(Traffic Management Science Research Institute,Ministry of Public Security Wuxi,Jiangsu 214151);The Contributing Factors of Speeding Driving Behavior and the Preventive Measures[J];工业安全与环保;2006-09
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