Throughout the last couple of years camera based driver assistance systems have become available in several upper and mid-class vehicles. Among the first applications there were mostly comfort-functions like traffic-sign recognition, lane-departure warning and lighting-assistance. After proven useful there is a demand also for safety relevant applications like for instance forward-collision alert and collision mitigation which are meant to detect obstacles and react passively or actively. So far, the focus in serial production has been on monocular cameras assisted by active sensors like Radar or Lidar. Detecting obstacles with a monocular system, however, does strongly rely on pattern recognition using state of the art techniques. Detecting non-rigid objects or in general objects which have not been trained explicitly, however, pushes pattern based methods to their limits. Detection techniques based on depth information as for instance provided by a stereo camera seem to be the natural extension as they do not have to anticipate knowledge concerning the obstacles' shape or texture. Having the depth information on hand does also provide the obstacle's distance. By contrast distance estimation using a monocular camera can only be realised under certain assumptions.
Vehicle detection based on a stereo camera
2010
8 Seiten, 6 Bilder, 12 Quellen
Aufsatz (Konferenz)
Englisch
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