| 摘要 |
A method of estimating the pose of a vehicle relative to a stereo camera is described herein. The method includes acquiring at least one stereo image of the vehicle from the stereo camera, wherein the stereo image comprises a plurality of scene data points, selecting a plurality of model data points corresponding to a model of the vehicle, wherein the plurality of model data points is representative of at least three degrees of freedom defining the pose of the model relative to the stereo camera, matching each of the plurality of model data points to a closest neighboring one of the plurality of scene data points according to a predetermined coarse-to-fine multi-resolution search approach, and, based on the results of the matching, determining at least three degrees of freedom defining the pose of the vehicle relative to the stereo camera.
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