VAVM: A Flexible Technique for Variable-Angle Around View Monitor System Towards Articulated Engineering Vehicle

Li, W; Cao, L; Yue, P; Wen, S; Liao, J; Xia, J; Feng, X

VAVM: A Flexible Technique for Variable-Angle Around View Monitor System Towards Articulated Engineering Vehicle

Li, W Cao, L Yue, P Wen, S

Liao, J Xia, J Feng, X

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Publisher:: Institute of Electrical and Electronics Engineers (IEEE)
Publication Type:: Journal Article
Citation:: IEEE Transactions on Vehicular Technology, 2022, 71, (4), pp. 3556-3568
Issue Date:: 2022-04-01

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Field	Value	Language
dc.contributor.author	Li, W
dc.contributor.author	Cao, L
dc.contributor.author	Yue, P
dc.contributor.author	Wen, S https://orcid.org/0000-0001-8077-7001
dc.contributor.author	Liao, J
dc.contributor.author	Xia, J
dc.contributor.author	Feng, X
dc.date.accessioned	2023-02-01T01:47:52Z
dc.date.available	2023-02-01T01:47:52Z
dc.date.issued	2022-04-01
dc.identifier.citation	IEEE Transactions on Vehicular Technology, 2022, 71, (4), pp. 3556-3568
dc.identifier.issn	0018-9545
dc.identifier.issn	1939-9359
dc.identifier.uri	http://hdl.handle.net/10453/165723
dc.description.abstract	The around view monitor system (AVM) has been widely used in passenger vehicles. However, for articulated engineering vehicles (AEV), AVM is difficult to directly apply due to the long body and the articulation angle. In this paper, a flexible technique for variable-angle around view monitor system (VAVM) towards the AEV is proposed, which includes static calibration and dynamic execution. In the static calibration stage, the camera poses in the vehicle coordinate system with the joint of AEV as the coordinate origin can be calibrated using irregularly placed multiple checkerboards without knowing their relative position. This flexible calibration approach makes the variable-angle mapping from the fisheye image to the bird's eye view image can be directly obtained by updating the camera poses on the tractor according to the articulation angle when the AEV turns. In the dynamic execution stage, an optimization algorithm based on minimizing the photometric error is designed to reduce the cumulative error of the angle sensor. Finally, all the bird's eye view images are mosaiced and fused to a variable-angle around view image (VAVI). The experimental results show that the VAVM can output globally balanced and seamless VAVIs under different angles and visual environment conditions. Furthermore, the practicability of VAVM is also demonstrated by a real AEV.
dc.language	en
dc.publisher	Institute of Electrical and Electronics Engineers (IEEE)
dc.relation.ispartof	IEEE Transactions on Vehicular Technology
dc.relation.isbasedon	10.1109/TVT.2021.3140173
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	08 Information and Computing Sciences, 09 Engineering, 10 Technology
dc.subject.classification	Automobile Design & Engineering
dc.title	VAVM: A Flexible Technique for Variable-Angle Around View Monitor System Towards Articulated Engineering Vehicle
dc.type	Journal Article
utslib.citation.volume	71
utslib.for	08 Information and Computing Sciences
utslib.for	09 Engineering
utslib.for	10 Technology
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - AAII - Australian Artificial Intelligence Institute
utslib.copyright.status	closed_access	*
dc.date.updated	2023-02-01T01:46:42Z
pubs.issue	4
pubs.publication-status	Published
pubs.volume	71
utslib.citation.issue	4

Abstract:

The around view monitor system (AVM) has been widely used in passenger vehicles. However, for articulated engineering vehicles (AEV), AVM is difficult to directly apply due to the long body and the articulation angle. In this paper, a flexible technique for variable-angle around view monitor system (VAVM) towards the AEV is proposed, which includes static calibration and dynamic execution. In the static calibration stage, the camera poses in the vehicle coordinate system with the joint of AEV as the coordinate origin can be calibrated using irregularly placed multiple checkerboards without knowing their relative position. This flexible calibration approach makes the variable-angle mapping from the fisheye image to the bird's eye view image can be directly obtained by updating the camera poses on the tractor according to the articulation angle when the AEV turns. In the dynamic execution stage, an optimization algorithm based on minimizing the photometric error is designed to reduce the cumulative error of the angle sensor. Finally, all the bird's eye view images are mosaiced and fused to a variable-angle around view image (VAVI). The experimental results show that the VAVM can output globally balanced and seamless VAVIs under different angles and visual environment conditions. Furthermore, the practicability of VAVM is also demonstrated by a real AEV.

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http://hdl.handle.net/10453/165723