Kinematic and Dynamic Vehicle Model-Assisted Global Positioning Method for Autonomous Vehicles with Low-Cost GPS/Camera/In-Vehicle Sensors

. 2019 Dec 9;19(24):5430. doi: 10.3390/s19245430

Algorithm 1: Calculation of degree of blurring using image singular value decomposition (ISVD).

Input: RGB image

I

Output: Blurred degree

d_{I S V D}

of image

I

Initialisation:

d_{I S V D} = 0

n u m = 0

1: Convert colour

I

to grayscale

I_{g r a y}

2: Calculate a singular value

W = d i a g (δ_{1}, δ_{2}, \dots, δ_{n})

with singular value decomposition on

I_{g r a y}

3: For

δ_{i}

W

4: If

δ_{i} \geq C_{t h r e s}

n u m + +

6: End
7: End
8: Return blurred degree

d_{I S V D} = n u m / n