Autonomous Driving

When tracking an object’s position, it is typically done from the ego vehicle’s perspective. However, the ego’s motion makes tracking the object somewhat difficult. The basic idea is to perform the tracking in the world coordinate system, then transform the results into the ego-car’s coordinate system. In this post, we will discuss how to concisely incorporate the ego’s motion into the object tracking process. Continuous Form Coordinate Definitions The target’s movement in the world coordinate: $\mathbf{o}(t)$; ego-car movement in the world coordinate: $\mathbf{g}(t)$; ego-car’s heading angle: $\theta(t)$; observed target’s coordinate relative to the ego-car: $\mathbf{x}(t)$. ...

Unlike global shutter cameras that capture the entire frame at once, rolling shutter cameras capture each row sequentially, leading to image distortions when there is motion. This paper discusses the rolling shutter effect in cameras and methods to handle it. Fundamentals of Rolling Shutter Camera Global Shutter Camera v.s. Rolling Shutter Camera. (a) Global Shutter Camera. (b) Rolling Shutter Camera. (figure from [6]) To efficiently capture and read the image, the time constraints for rolling shutter camera are: ...