Stereovision-Based Sensor for Intersection Assistance

机译：基于立体视觉的交叉口辅助传感器

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The intersection scenario imposes radical changes in the physical setup and in the processing algorithms of a stereo sensor. Due to the need for a wider field of view, which comes with distortions and reduced depth accuracy, increased accuracy in calibration and dense stereo reconstruction is required. The stereo matching process has to be performed on rectified images, by a dedicated stereo board, to free processor time for the high-level algorithms. In order to cope with the complex nature of the intersection, the proposed solution perceives the environment in two modes: a structured approach, for the scenarios where the road geometry is estimated from lane delimiters, and an unstructured approach, where the road geometry is estimated from elevation maps. The structured mode provides the parameters of the lane, and the position, size, speed and class of the static and dynamic objects, while the unstructured mode provides an occupancy grid having the cells labeled as free space, obstacle areas, curbs and isles.

机译：相交方案在物理设置和立体传感器的处理算法中施加了根本性的变化。由于需要更宽的视野，因此会带来失真和降低的深度精度，因此需要提高校准精度和密集的立体声重建。立体声匹配过程必须由专用的立体声板在整流后的图像上执行，以腾出处理器时间用于高级算法。为了应对交叉路口的复杂性，建议的解决方案以两种模式感知环境：针对从车道定界符估计道路几何形状的方案，使用结构化方法；对于估计道路几何形状的方法，采用非结构化方法从高程图。结构化模式提供车道的参数，以及静态和动态对象的位置，大小，速度和类别，而非结构化模式则提供一个占用网格，其中的单元格标记为自由空间，障碍区域，路缘和小岛。

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来源
《Advanced microsystems for automotive applications 2009 : Smart systems for safety, sustainability, and comfort》|2009年|129-163|共35页
会议地点 Berlin(DE);Berlin(DE)
作者
S. Nedevschi; R. Danescu; T. Marita; F. Oniga; C. Pocol; S. Bota; M.-M. Meinecke; M. A. Obojski;
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作者单位

Technical University of Cluj-Napoca Str. C. Daicoviciu 15 400 020 Cluj-Napoca Romania;

Technical University of Cluj-Napoca Str. C. Daicoviciu 15 400 020 Cluj-Napoca Romania;

Technical University of Cluj-Napoca Str. C. Daicoviciu 15 400 020 Cluj-Napoca Romania;

Technical University of Cluj-Napoca Str. C. Daicoviciu 15 400 020 Cluj-Napoca Romania;

Technical University of Cluj-Napoca Str. C. Daicoviciu 15 400 020 Cluj-Napoca Romania;

Technical University of Cluj-Napoca Str. C. Daicoviciu 15 400 020 Cluj-Napoca Romania;

Volkswagen AG Brieffach 01117770 38436 Wolfsburg Germany;

Volkswagen AG Brieffach 01117770 38436 Wolfsburg Germany;

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原文格式 PDF
正文语种 eng
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关键词
stereovision; intersection; lane detection; obstacle detection; tracking; classification; elevation maps; occupancy map;

机译：立体视觉路口;车道检测；障碍物检测跟踪；分类;高程图；占用地图;

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1. Assistance for Telepresence by Stereovision-Based Augmented Reality and Interactivity in 3D Space [J] . Fuchs P, Nashashibi F, Maman D Presence . 2002,第5期

机译：通过基于立体视觉的增强现实和3D空间中的交互性来协助网真
2. Predicting crash-relevant violations at stop sign-controlled intersections for the development of an intersection driver assistance system [J] . Scanlon John M., Sherony Rini, Gabler Hampton C. Traffic Injury Prevention . 2016,第Suppla1期

机译：预测停车牌控制的交叉路口与碰撞相关的违规行为，以开发交叉路口驾驶员辅助系统
3. Predicting crash-relevant violations at stop sign-controlled intersections for the development of an intersection driver assistance system [J] . Scanlon John M., Sherony Rini, Gabler Hampton C. Traffic Injury Prevention . 2016,第Suppla1期

机译：预测停止签约控制交叉路口的崩溃相关的违规行为，以开发交叉驾驶员援助系统
4. Stereovision-Based Sensor for Intersection Assistance [C] . S. Nedevschi, R. Danescu, T. Marita, International forum on advanced microsystems for automotive applications . 2009

机译：基于立体传感器的交叉路口辅助
5. Design of a Portable Pneumatic Exosuit for Knee Extension Assistance with Gait Sensing using Fabric-based Inflatable Insole Sensors [D] . Poddar, Souvik. 2020

机译：使用基于织物的充气鞋垫传感器的步态感测膝关节延长辅助便携式气动外壳设计
6. Traffic Intersection Re-Identification Using Monocular Camera Sensors [O] . Lu Xiong, Zhenwen Deng, Yuyao Huang, 2020

机译：使用单眼摄像机传感器重新识别交通交叉识别
7. Stereovision-Based Sensor for Intersection Assistance [O] . Sergiu Nedevschi, Radu Danescu, Tiberiu Marita, 2009

机译：基于立体传感器的交叉路口辅助

Stereovision-Based Sensor for Intersection Assistance

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