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Detection of Tire-Road Contact Point for Vehicle Position Estimate Considering Shape Distortion in a Circular Fisheye Image

In this paper, we propose a new method for detecting tire-road contact points and estimating the position of a vehicle on a road taking the distortion in a circular fisheye image into consideration. In our proposed method, we use the distortional parameter of two concentric circles composed of the inner wheel and the outer tire by considering projection system of fisheye lens, and the searching the gray scale profile in the distortional direction are derived from each pixel that is outer the outline of the wheel region. And it is confirmed that the proposed method is effective in circular fisheye image by experimental results.