We propose a new domain-specific area-based stereo method that is applicable to various tasks including safe navigation and pedestrian detection. Incorporating a spatial restriction in the height direction of road scenes into the recursive computation of correlation measures, the proposed method efficiently provides dense disparity measures. A pair of cameras just has to be weakly calibrated due to the non-metric formulation. We also implement our stereo method on a newly developed onboard LSI, which has a dedicated architecture for practical automotive use and realizes more than BOM disparity estimations per second. Furthermore, we apply our method to a side collision warning system, which detects approaching objects such as pedestrians and bicycles. Through experiments we demonstrate the efficiency of our stereo method in road environments.
Dense stereo matching in restricted disparity space
2005-01-01
1092401 byte
Conference paper
Electronic Resource
English
Dense Stereo Matching in Restricted Disparity Space
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