Abstract
AbstractThis paper is concerned with vehicle motion estimation. The problem is formulated as a sensor fusion problem, where the vehicle motion is estimated based on the information from a far infrared camera, inertial sensors and the vehicle speed. This information is already present in premium cars. This work is concerned with the off-line situation and the approach taken is to formulate the problem as a nonlinear least squares problem. In order to illustrate the performance of the proposed method experiments on rural roads in Sweden during night time driving have been performed. The results clearly indicates the efficacy of the approach.
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