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Mobile robots as well as tomorrows intelligent vehicles acting in complex dynamic environments must be able to detect both static and moving obstacles. In intersections or crowded urban areas this task proves to be highly demanding. Stereo vision has been extensively used for this task, as it provides a large amount of data. Since it does not reveal any motion information, static and dynamic objects...
This paper presents a high-accuracy online calibration method for the absolute extrinsic parameters of a stereovision system that is suited for far-distance, vision-based vehicle applications. The method uses as prior knowledge the intrinsic parameters and the relative extrinsic parameters (relative position and orientation) of the two cameras, which are calibrated using offline procedures. These...
This paper presents an implementation of a 3D environment reconstruction system, using trinocular (3 camera) stereovision. The system does not use rectification, in order to improve precision. Sub-pixel accuracy correlation is used. Feature extraction and correlation use MMX and SSE2 optimizations. Reconstruction correctitude tests were conducted using both synthetically generated images and camera...
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