Stefan Gehrig, Clemens Rabe, Lars KrügerAbstractFor automotive applications, 3D
perception of the car's surroundings is crucial, both for driver
assistance and for safety systems. In addition, a large field of view is
required for future applications such as intersection assistance. A
popular option to obtain 3D measurements and detect objects is to use
two cameras (stereo vision). Applications based on object detection
range from Adaptive Cruise Control, Collision Mitigation Systems to
Intersection Assistance Systems. Stereo vision with conventional cameras
only delivers a limited field of view. We extend the field of view
using fisheye lenses. In this contribution a detailed description of a
fisheye stereo system for object detection is given, including the steps
calibration, rectification, and stereo computation. Differences to
traditional stereo systems are pointed out and the accuracy for an
experimental setup is evaluated. In addition, the fisheye stereo
approach is combined with optical flow measurements to obtain position
and velocity data simultaneously. This so-called 6D Vision approach is
extended to stereodata obtained with fisheye lenses. Results for
intersection scenes are presented. [Download] [View] [BibTeX] |
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