True single view point multi-resolution catadioptric system for intelligent vehicle
Qing Li
Nanning Zheng
Lin Ma
Hong Cheng
Inst. of Artificial Intelligence & Robotics, Xi'an Jiao Tong Univ., China;
Abstract
The vision system mounted in intelligent vehicle could require high resolution in certain azimuth direction and wide field of view to meet safety for autonomous or assistant driving, but few vision systems with these characteristics exists. A true single viewpoint multi-resolution elliptical cone catadioptric system with 180 degree horizontal field of view is suggested in order to provide higher resolution in lookahead direction and less in lateral direction. An elliptical cone is used as catoptric element and conventional perspective camera is used as dioptric element. The single viewpoint of the catadioptric system is proved and its vertical and horizontal resolution, and vertical field of view are calculated by pinhole imaging model and geometric optics image formation model. Experimental results verify the ability of multi-resolution of the system.
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