Mixed Dimensional Multiple View Geometry and Integration of Different On-Vehicle Sensors

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In advanced vehicular safety systems, cooperation of sensing information obtained in multiple vehicles is very important. In this research, we studied multiple view geometry among different sensors, and developed a method for computing 3D position and orientation of multiple vehicles from sensing information obtained by different types of sensors, such as cameras and laser radars, mounted on multiple vehicles. In particular, we showed that by observing laser points projected by a laser radar on one vehicle using a camera on the other vehicle, we can compute relative position and orientation between these vehicles. By using our method, we can report approaching vehicles to drivers at around blind intersections.