Adaptive Inverse Perspective Mapping for lane map generation with SLAM

This paper proposes an adaptive Inverse Perspective Mapping (IPM) algorithm to obtain accurate bird's-eye view images from the sequential images of forward looking cameras. These images are often distorted by the motion of the vehicle; even a small motion can cause a substantial effect on bird's-eye view images. In this paper, we propose an adaptive model for the IPM to accurately transform camera images to bird's-eye view images by using motion information. Using motion derived from the monocular visual simultaneous localization and mapping (SLAM), experimental result shows that the proposed approaches can provide stable bird's-eye view images, even with large motion during the drive.