Estimation of Road Surface Plane and Object Height Focusing on the Division Scale in Disparity Image Using Fisheye Stereo Camera-Reference-Cited by-同舟云学术

Estimation of Road Surface Plane and Object Height Focusing on the Division Scale in Disparity Image Using Fisheye Stereo Camera

Published:2023-10-20 Issue:5 Volume:35 Page:1354-1365
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Sakuda Tomoyu¹,Chikugo Hikaru¹,Arai Kento¹,Pathak Sarthak²^ORCID,Umeda Kazunori²^ORCID

Affiliation:

1. Precision Engineering Course, Graduate School of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

2. Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

Abstract

In this paper, we propose a novel algorithm for estimating road surface shapes and object heights using a fisheye stereo camera. Environmental recognition is an important task for advanced driver-assistance systems. However, previous studies have only achieved narrow measurement ranges owing to sensor restrictions. Moreover, the previous approaches cannot be used in environments where the slope changes because they assume inflexible constraints on the road surfaces. We use a fisheye stereo camera capable of measuring wide and dense 3D information and design a novel algorithm by focusing on the degree of division in a disparity image to overcome these defects. Experiments show that our method can detect an object in various environments, including those with inclined road surfaces.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

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