/e been 
velocity 
of the 
'rowing 
)bjects. 
e used. 
'eraged 
nent is 
atefully 
3ildfol- 
res for 
3-567, 
ocular 
roads. 
stems, 
ge and 
  
  
  
120 
ving). 
195 
3s 
30 
3.4 
3.35 
3.3 
3.25 
3.2 
3.15 
3.1 
3.05 
PZ {m} 
213 
  
  
  
  
  
  
LAN P Estimated car depth s 
I VE VN. Estimated truck depth ------- 
--— M : 3 
MN — x Tan e. - 
E EA E Ne en 
N A 
ie - 
oO 20 AO SO So 100 120 
Image 
Figure 6: The estimated depths of the left car and truck. 
  
  
  
Car V estimation —— 
Car V measurement 
  
  
20 
60 80 100 120 
Image 
45 
  
4o L /} 
35 | 
30 
25 
20 
V [m/s] 
1s 
10 
s 
  
Truck V estimation 
f Truck V measurement 
  
  
  
100 
Figure 7: The measured and estimated velocities V of the left car (left) and the truck (right). 
V [m/s] 
30 
10 
5 
  
  
Egovelocity V_ego 
Car V estimation 
Truck V estimation 
  
  
  
o 
2o AO 
SO so 100 
Image 
120 
Figure 8: The estimated velocities V vs. the egocar’s translational velocity. 
  
  
  
  
Car theta estimation 
Car theta measurement 
  
  
20 
60 80 100 120 
Image 
  
3.4 
3.35 } 
3.3 + 
3.25 F 
3.2 
theta [rad] 
3.1 
3.05 
  
Thruck theta estimation ——— 
Truck theta measurement 
  
  
  
100 
Figure 9: The measured and estimated direction © of the two objects (© should be = 3.14). 
Oméga [ads 
o.s 
O.6 
O.- 
(9.22 
o 
-O.2 
-o.4 
-O.6 
-0.8 
  
  
  
Egocar omega 
Estimated car omega 
Estimated truck omega 
A 
  
   
  
  
o 
SO 100 
Image 
120 
Figure 10: The egocar rotational velocity and the estimated velocities of the two vehicles. 
120 
IAPRS, Vol. 30, Part 5W1, ISPRS Intercommission Workshop “From Pixels to Sequences”, Zurich, March 22-24 1995