Stereovision-Based Sensor for Intersection Assistance
| Autor: | Ciprian Pocol, Sergiu Nedevschi, Tiberiu Marita, M.M. Meinecke, Florin Oniga, Silviu Bota, Radu Danescu, Marian Andrzej Obojski |
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| Rok vydání: | 2009 |
| Předmět: |
050210 logistics & transportation
Occupancy grid mapping business.industry Computer science Pedestrian detection 05 social sciences ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Process (computing) Field of view 02 engineering and technology Intersection Position (vector) Road surface Obstacle 11. Sustainability 0502 economics and business 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence business |
| Zdroj: | Advanced Microsystems for Automotive Applications 2009 ISBN: 9783642007446 |
| Popis: | The intersection scenario imposes radical changes in the physical setup and in the processing algorithms of a stereo sensor. Due to the need for a wider field of view, which comes with distortions and reduced depth accuracy, increased accuracy in calibration and dense stereo reconstruction is required. The stereo matching process has to be performed on rectified images, by a dedicated stereo board, to free processor time for the high-level algorithms. In order to cope with the complex nature of the intersection, the proposed solution perceives the environment in two modes: a structured approach, for the scenarios where the road geometry is estimated from lane delimiters, and an unstructured approach, where the road geometry is estimated from elevation maps. The structured mode provides the parameters of the lane, and the position, size, speed and class of the static and dynamic objects, while the unstructured mode provides an occupancy grid having the cells labeled as free space, obstacle areas, curbs and isles. |
| Databáze: | OpenAIRE |
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