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Stereovision-Based Sensor for Intersection Assistance

机译：基于立体传感器的交叉路口辅助

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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：交叉路口方案在物理设置和立体声传感器的处理算法中强加了激进的改变。由于需要更广泛的视野，这具有扭曲和减少深度精度，需要提高校准和密度立体声重建的精度。立体声匹配过程必须在校正的图像，专用立体声板上执行到高级算法的免费处理器时间。为了应对交叉路口的复杂性，所提出的解决方案以两种模式感知环境：一种结构化方法，用于道路分隔符的道路几何形状，以及估计道路几何形状的非结构化方法从海拔地图。结构化模式提供了通道的参数，以及静态和动态对象的位置，尺寸，速度和类，而非结构化模式提供占用电网，该占用电网具有标记为自由空间，障碍物区域，路径和群体。

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