Using Binocular Stereopsis for Vision-based Vehicle Control
Quang-Tuan Luong, and
In Proc. of the Intelligent Vehicles Symposium 1994, pp. 237-242,
October 24-26, 1994, Paris, France
We propose 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.
approach allows us to separate 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.
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