When a vision sensor is used to provide the sensory input of an autonomous vehicle, most researchers rely on a monocular camera system. In this paper, we have compared the capabilities and limitations of a monocular camera system with respect to a binocular camera system for the purpose of performing autonomous vehicle tracking. The problem of vehicle tracking includes automatic speed and steering control of an unmanned vehicle following the motion of a lead vehicle. We have indicted how the relative position of a lead vehicle is computed visually and investigated the quantization, tilt angle, pan angle, and road slope errors associated with a monocular and a binocular vision sensor. We have shown that a binocular camera system provides a more robust sensing mechanism when operating under realistic outdoor conditions.


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    Title :

    Comparison of mono- and stereo-camera systems for autonomous vehicle tracking


    Contributors:

    Conference:

    Applications of Artificial Intelligence IX ; 1991 ; Orlando,FL,United States


    Published in:

    Publication date :

    1991-03-01





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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