当前位置: X-MOL 学术IEEE Trans. Veh. Technol. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Modulated Motion Blur-Based Vehicle Body Velocity and Pose Estimation Using an Optical Image Modulator
IEEE Transactions on Vehicular Technology ( IF 6.8 ) Pub Date : 2021-07-27 , DOI: 10.1109/tvt.2021.3100543
Minyoung Lee , Jung-Seok Cho , Kyung-Soo Kim , Soohyun Kim

This paper presents a new velocity and pose sensor for a ground vehicle using modulated motion blur generated from an optical image modulator (OIM). The OIM repeatedly shakes the lens of a camera in the lateral direction of the vehicle body, which creates patterns of motion blur that are recorded in an image frame. The relationship between the blur pattern and vehicle velocity is determined using camera dynamics. The 2D velocity of the vehicle body is estimated by analyzing the motion blur pattern. The vehicle roll and pitch angle with respect to the ground are calculated by comparing the estimated average depths (heights) of the sections of a scene. We propose a signal processing and control system to precisely modulate the OIM, which is an electro-mechanical system consisting of a coil, magnet, spring and damper. In addition, we validate the influence of the control reference waveform through various experiments and confirm the robustness of the proposed system. The proposed system is suitable for many applications because it is insensitive to environmental changes and has a relatively low computation time while accurately measuring the speed.

中文翻译:

使用光学图像调制器进行基于调制运动模糊的车身速度和姿态估计

本文使用光学图像调制器 (OIM) 生成的调制运动模糊,为地面车辆提供了一种新的速度和姿态传感器。OIM 会在车身的横向反复晃动相机的镜头,从而产生运动模糊模式,并记录在图像帧中。模糊模式和车辆速度之间的关系是使用相机动态确定的。通过分析运动模糊模式来估计车身的二维速度。车辆相对于地面的侧倾角和俯仰角是通过比较场景各部分的估计平均深度(高度)来计算的。我们提出了一个信号处理和控制系统来精确调制 OIM,这是一个由线圈、磁铁、弹簧和阻尼器组成的机电系统。此外,我们通过各种实验验证了控制参考波形的影响,并确认了所提出系统的鲁棒性。所提出的系统适用于许多应用,因为它对环境变化不敏感,并且在准确测量速度的同时具有相对较低的计算时间。
更新日期:2021-09-21
down
wechat
bug