Stereovision-based sensor for intersection assistance

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Stereovision-based sensor for intersection assistance

Nedevschi, S. / Danescu, R. / Marita, T. / Oniga, F. / Pocol, C. / Bota, S. / Meinecke, M.M. / Obojski, M.A.

The intersection scenario imposes radical changes in the physical setup and in the processing algorithms of a stereo sensor. Due to the need for a wider field of view, which comes with distortions and reduced depth accuracy, increased accuracy in calibration and dense stereo reconstruction is required. The stereo matching process has to be performed on rectified images, by a dedicated stereo board, to free processor time for the high-level algorithms. In order to cope with the complex nature of the intersection, the proposed solution perceives the environment in two modes: a structured approach, for the scenarios where the road geometry is estimated from lane delimiters, and an unstructured approach, where the road geometry is estimated from elevation maps. The structured mode provides the parameters of the lane, and the position, size, speed and class of the static and dynamic objects, while the unstructured mode provides an occupancy grid having the cells labeled as free space, obstacle areas, curbs and isles.

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Document information

Title :

Stereovision-based sensor for intersection assistance

Additional title:

Einsatz eines Stereobild-Sensor für die Abstands-Fahrerassistenz

Contributors:

Nedevschi, S. (author) / Danescu, R. (author) / Marita, T. (author) / Oniga, F. (author) / Pocol, C. (author) / Bota, S. (author) / Meinecke, M.M. (author) / Obojski, M.A. (author)

Published in:

Smart Systems for Safety, Sustainability, and Comfort, AMAA, Advanced Microsystems for Automotive Applications, 13 ; 129-163

Publication date :

2009

Size :

35 Seiten, 26 Bilder, 3 Tabellen, 38 Quellen

ISBN :

978-3-642-00744-6

DOI :

https://doi.org/10.1007/978-3-642-00745-3_10

Type of media :

Conference paper