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Figure 1: A driver camera can be used to extract features fromimages to recognize the driver intention of the next seconds as animportant milestone to increase traffic safety (Volvo, 2014).
Figure 2: Process workflow to estimate the poses of vehicle envi-ronment Ie and vehicle interior cameras Ii with non-overlappingfields-of-view in an urban environment.
Figure 3: Vehicle coordinate system. Origin is the center of thefront axle. Y-axis is equal to front axle, x-axis through front andrear axle and orthogonal to y-axis
Figure 4: Rim centres (red cross) are used as ground controlpoints for the transformation into the vehicle coordinate system.The emblem of the car manufacturer is often placed in the rimcenter providing a clear defined central point.
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isprs archives XLII 1 W1 181 2017

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