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.


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    Title :

    Dense stereo matching in restricted disparity space


    Contributors:
    Hattori, H. (author) / Takeda, N. (author)


    Publication date :

    2005-01-01


    Size :

    1092401 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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