| Autor: |
Youpan Zhu, Dan Zhang, Yongkang Zhou, Weiqi Jin, Lingling Zhou, Guanlin Wu, Yong Li |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Sensors, Vol 24, Iss 2, p 676 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
1424-8220 |
| DOI: |
10.3390/s24020676 |
| Popis: |
With the continuous evolution of autonomous driving and unmanned driving systems, traditional limitations such as a limited field-of-view, poor ranging accuracy, and real-time display are becoming inadequate to satisfy the requirements of binocular stereo-perception systems. Firstly, we designed a binocular stereo-imaging-perception system with a wide-field-of-view and infrared- and visible light-dual-band fusion. Secondly we proposed a binocular stereo-perception optical imaging system with a wide field-of-view of 120.3°, which solves the small field-of-view of current binocular stereo-perception systems. Thirdly, For image aberration caused by the wide-field-of-view system design, we propose an ellipsoidal-image-aberration algorithm with a low consumption of memory resources and no loss of field-of-view. This algorithm simultaneously solves visible light and infrared images with an aberration rate of 45% and 47%, respectively. Fourthly, a multi-scale infrared- and visible light-image-fusion algorithm is used, which improves the situational-awareness capabilities of a binocular stereo-sensing system in a scene and enhances image details to improve ranging accuracy. Furthermore, this paper is based on the Taylor model-calibration binocular stereo-sensing system of internal and external parameters for limit correction; the implemented algorithms are integrated into an NVIDIA Jetson TX2 + FPGA hardware framework, enabling near-distance ranging experiments. The fusion-ranging accuracy within 20 m achieved an error of 0.02 m, outperforming both visible light- and infrared-ranging methods. It generates the fusion-ranging-image output with a minimal delay of only 22.31 ms at a frame rate of 50 Hz. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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