Accuracy Characterization of the Vehicle State Estimation from Aerial Imagery

Due to their capability of acquiring aerial imagery, camera-equipped Unmanned Aerial Vehicles (UAVs) are very cost-effective tools for acquiring traffic information. However, not enough attention has been given to the validation of the accuracy of these systems. In this paper, an analysis of the mos...

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Bibliographic Details
Main Authors: Morales, Eduardo Sanchez, Kruber, Friedrich, Botsch, Michael, Huber, Bertold, Higuera, Andres Garcia
Format: Conference Proceeding
Language:English
Subjects:
Automobiles
Benchmark testing
Cameras
Data acquisition
Kalman filters
State estimation
Online Access:Request full text
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Summary:Due to their capability of acquiring aerial imagery, camera-equipped Unmanned Aerial Vehicles (UAVs) are very cost-effective tools for acquiring traffic information. However, not enough attention has been given to the validation of the accuracy of these systems. In this paper, an analysis of the most significant sources of error is done. This includes three key components. First, a vehicle state estimation by means of statistical filtering. Second, a quantification of the most significant sources of error. Third, a benchmark of the estimated state compared with state-of-the-art reference sensors. This work presents ways to minimize the errors of the most relevant sources. With these error reductions, camera-equipped UAVs are very attractive tools for traffic data acquisition. The test data and the source code are made publicly available.
ISSN:2642-7214
DOI:10.1109/IV47402.2020.9304705