Obstacle Detection and Height Estimation Using Disparity and Intensity Information with a Fish-eye Stereo Camera

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  • 魚眼ステレオカメラを用いた視差情報と輝度情報による障害物の検出と高さ推定

Abstract

<p>In this paper, we propose a method for obstacle detection and height estimation using a fish-eye stereo camera. Disparity and intensity information is used. The method using only disparity information may incorrectly detect road surface as obstacles. Therefore, we obtain the intensity of the road surface by using the obstacle information obtained from the disparity and compare the intensity throughout the entire image to detect obstacles. Experiments show that the proposed method using the disparity and intensity information can detect only obstacles without detecting the road surface as obstacles. Experiments also show an improvement in the accuracy of height estimation.</p>

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