Stereo-Assist: Top-down stereo for driver assistance systems | IEEE Conference Publication | IEEE Xplore

Stereo-Assist: Top-down stereo for driver assistance systems


Abstract:

This paper presents a top-down approach to stereo for use in driver assistance systems. We introduce an asymmetric configuration where monocular object detection and rang...Show More

Abstract:

This paper presents a top-down approach to stereo for use in driver assistance systems. We introduce an asymmetric configuration where monocular object detection and range estimation is performed in the primary camera and then that image patch is aligned and matched in the secondary camera. The stereo distance measure from the matching assists in target verification and improved distance measurements. This approach, Stereo-Assist, shows significant advantages over the classical bottom-up stereo approach which relies on first computing a dense depth map and then using the depth map for object detection. The new approach can provide increased object detection range, reduced computational load, greater flexibility in camera configurations (we are no longer limited to side-by-side stereo configurations), greater robustness to obstructions in part of the image and mixed camera modalities FIR/VIS can be used. We show results with two novel configurations and illustrate how monocular object detection allows for simple online calibration of the stereo rig.
Date of Conference: 21-24 June 2010
Date Added to IEEE Xplore: 16 August 2010
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Conference Location: La Jolla, CA, USA

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