Perceiving the distance between vehicles is a crucial issue for advanced driving assistance systems. However, most vision-based distance estimation methods do not consider the influence of the change in camera attitude angles during driving or only use the vanishing point detected by lane lines to correct the pitch angle. This paper proposed an improved pinhole distance estimation model based on the road vanishing point without the lane line information. First, the road vanishing point is detected based on the dominant texture orientation, and the yaw and pitch angles of the camera are estimated. Then, a distance estimation model considering attitude angle compensation is established. Finally, the experimental results show that the proposed method can effectively correct the influence of the camera attitude angle on the distance estimation results.

中文翻译：

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基于单目视觉考虑相机姿态角的车距估计

感知车辆之间的距离是高级驾驶辅助系统的关键问题。然而，大多数基于视觉的距离估计方法没有考虑驾驶过程中相机姿态角变化的影响，或者仅利用车道线检测到的消失点来校正俯仰角。本文提出了一种改进的基于道路消失点而没有车道线信息的针孔距离估计模型。首先，基于主导纹理方向检测道路消失点，并估计相机的偏航角和俯仰角。然后，建立了考虑姿态角补偿的距离估计模型。最后，实验结果表明，所提出的方法可以有效地校正相机姿态角对距离估计结果的影响。