Robotics
← Practice/Sensor Fusion

Estimating vehicle heading from IMU yaw rate and camera lane lines

hardsubjective

Asked in interviews

You have a vehicle's yaw rate from an IMU and camera images in which both side lane markings appear as lines. Describe how you would estimate the vehicle's heading (relative to the lane). What does each source give you and how do you fuse them?

lane dirheadingIMU yaw
The vehicle's heading must be estimated by fusing the IMU's yaw rate with the direction of the camera-detected lane lines.

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