Attitude estimation of the train-borne camera from the railway-environment

The attitude of the train-bore camera is a set of important external parameters. It is very helpful to analyze the images using the machine vision methods. And adjusting the machine vision algorithms and understanding the scene can be guided by estimating the attitude of the camera. By analyzing the features of images taken from the railway environment, a method of estimating the attitude of the train-bore camera is proposed, i.e. using the detecting algorithm of vanishing points based on the proposed modified line segment detector (MLSD), least-square technique and cross iteration methods to obtain the attitude of the camera. The experimental results show that the validation and accuracy of method can meet the requirements of the precision of vehicle detection system.