Using binocular stereopsis for vision-based vehicle control
Using binocular stereopsis for vision-based vehicle control
复制标题
使用双目立体视觉进行基于视觉的车辆控制
DOI：
10.1109/ivs.1994.639511
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发表时间：
1994
期刊：
影响因子：
--
通讯作者：
Jitendra Malik
中科院分区：
文献类型：
--
作者：
Dieter Koller;Q. Luong;Jitendra Malik
提出了一种新的基于视觉的车辆纵横向控制方法，该方法广泛使用了双目立体视觉。纵向控制--即与前面的车辆保持安全、恒定的距离-通过使用双目立体视觉检测和测量到领先车辆的距离。关于局部平坦道路的已知相机几何被用来将两个相机视图中的道路平面的图像映射成对齐。然后，任何显著的残差图像视差都表明物体不在道路平面上，因此是潜在的障碍物。这种方法允许将图像特征分离为位于道路平面上的特征，例如车道标记，以及由于其他对象引起的特征。位于道路上的特征在场景中是静止的，似乎只是因为车辆的运动而移动。这些功能的测量允许(A)动态摄像机校准更新和(B)支持搜索车道标志，用于横向控制。
Proposes a new approach for vision based longitudinal and lateral vehicle control which makes extensive use of binocular stereopsis. Longitudinal control-i.e. maintaining a safe, constant distance from the vehicle in front-is supported by detecting and measuring the distances to leading vehicles using binocular stereo. A known camera geometry with respect to the locally planar road is used to map the images of the road plane in the two camera views into alignment. Any significant residual image disparity then indicates an object not lying in the road plane and hence a potential obstacle. This approach allows the separation of image features into those lying in the road plane, e.g. lane markers, and those due to other objects. The features which lie on the road are stationary in the scene and appear to move only because of the egomotion of the vehicle. Measurements on these features allow (a) a dynamic camera calibration update and (b) support the search for lane marker, which are used for lateral control.