Camera position estimation method based on matching of Top-View images for running vehicle

Tomoaki Teshima, Hideo Saito, Shinji Ozawa, Keiichi Yamamoto, Toru Ihara

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, a method which estimates the trajectory of the vehicle from a single vehicle camera is proposed. The proposed method is a model based method which assumes that the vehicle is running on a planar road. The input image is converted to a Top- View image and a matching (registration) between the next Top- View image is done. The registration is done based on an assumed velocity parameter, and repeated with entire candidate parameters. In this paper, a simple model and the particle filter is introduced to decrease the computation cost. Simple model gives a constraint to the registration of the Top-View images, and the particle filter decreases the number of the candidate parameters. Position of the camera is obtained by accumulating the velocity parameters. Experiments shows 3 results. Enough decreasement of the computation cost, suitable estimated trajectory and small enough computation cost to estimate the trajectory of the vehicle.

Original languageEnglish
Title of host publicationProceedings of SPIE-IS and T Electronic Imaging - Real-Time Image Processing 2007
Publication statusPublished - 2007
EventReal-Time Image Processing 2007 - San Jose, CA, United States
Duration: 2007 Jan 292007 Jan 30

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
ISSN (Print)0277-786X


OtherReal-Time Image Processing 2007
Country/TerritoryUnited States
CitySan Jose, CA


  • Homography
  • ITS
  • Vehicle camera
  • Vehicle position estimation

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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