Speed Increasing of FOE Calculation in Autonomous Vehicle Control Systems

One of the tasks in autonomous vehicle control systems is to determine camera angles based on analysis of video stream captured during motion. Assuming that the car is moving rectilinearly along horizontal plane then speed vector of the car in projection onto plane of camera image gives the focus of expansion (FOE). Thereby, search of FOE allows to find two of three attachment parameters (pitch and yaw) and rotation around FOE determines third parameter (roll). In this paper, method of real-time FOE calculation is considered. Speed increasing of FOE calculations is achieved by video binarization and filtering of the reference points determining the optical flow.