Pitch Angle Estimation of Monocular In-vehicle Camera Using Drive Recorder Video

Abstract

In recent years, the movement for the development and commercialization of autonomous driving vehicle is rapidly getting higher. In order to spread autonomous driving vehicles, it is necessary to evaluate safety, and we must create a scenario for that. Therefore, we aim to extract parameters for scenario creation from near-miss incident data. In this research, we propose a method of pitch angle estimation of monocular camera using drive recorder video for the measurement relative distance. First, estimate initial pitch angle estimation from lane parallelism. Next, in a scene where the pitch angle changes due to sudden braking, the estimation method is switched. Here, the pitch angle is estimated from feature point matching.