Inverse Perspective Mapping Roll Angle Estimation for Motorcycles

Pierre-Marie Damon 1 Hicham Hadj-Abdelkader 1 Hichem Arioui 1 Kamal Youcef-Toumi 2
1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 Mechatronics Research Laboratory
Abstract : This paper presents an image-based approach to estimate the motorcycle roll angle. The algorithm estimates directly the absolute roll to the road plane by means of a basic monocular camera. This means that the estimated roll angle is not affected by the road bank which is often a problem for vehicle observation and control purposes. For each captured image, the algorithm uses a numeric roll loop based on some simple knowledge of the road geometry. For each iteration, a bird-eye-view of the road is generated with the inverse perspective mapping technique. Then, a road marker filter associated with the well-known clothoid model are used respectively to track the road separation lanes and approximate them with mathematical functions. Finally, the algorithm computes two distinct areas between the two-road separation lanes. Its performances are tested by means of the motorcycle simulator BikeSim. This approach is very promising since it does not require any vehicle or tire model and is free of restrictive assumptions on the dynamics.
Keywords : Electric vehicles and intelligent transportation Identification and estimation Image/video analysis
Document type :
Conference papers
Complete list of metadatas

Cited literature [15 references]  Display  Hide  Download
https://hal.archives-ouvertes.fr/hal-01933672
Contributor : Frédéric Davesne <>
Submitted on : Friday, October 4, 2019 - 11:46:53 AM
Last modification on : Monday, October 28, 2019 - 10:50:22 AM

File

ICARCV_P2_2018_DAMON.pdf
Files produced by the author(s)

Identifiers

Collections

UNIV-EVRY | IBISC | IBISC-SIBI | TDS-MACS | UNIV-PARIS-SACLAY

Citation

Pierre-Marie Damon, Hicham Hadj-Abdelkader, Hichem Arioui, Kamal Youcef-Toumi. Inverse Perspective Mapping Roll Angle Estimation for Motorcycles. 15 th International Conference on Control, Automation, Robotics and Vision (ICARCV 2018), Nov 2018, Singapore, Singapore. ⟨10.1109/ICARCV.2018.8581182⟩. ⟨hal-01933672⟩

Export

BibTeX TEI DC DCterms EndNote

Share

Metrics

Record views

153

Files downloads

37

Contact

Informations

CCSD