Back to articles
Articles
Volume: 29 | Article ID: art00004
Image
Accelerated Stereo Matching for Autonomous Vehicles using An Upright Pinhole Camera Model
  DOI :  10.2352/ISSN.2470-1173.2017.19.AVM-013  Published OnlineJanuary 2017
Abstract

In this paper, we propose a new method for accelerating stereo matching in autonomous vehicles using an upright pinhole camera model. It is motivated by that stereo videos are more restricted when the camera is fixed on the vehicles driving on the road. Assuming that the imaging plane is perpendicular to the road and the road is generally flat, we can derive the current disparity based on the previous one and the flow. The prediction is very efficient that only requires two multiplications per pixel. In practice, this model may not hold strictly but we still can use it for disparity initialization. Results on real datasets demonstrate the our method reduces the disparity search range from 128 to 61 with only slightly accuracy decreasing.

Subject Areas :
Views 78
Downloads 1
 articleview.views 78
 articleview.downloads 1
  Cite this article 

Chen Chen, Jiangbo Lu, Do-Kyoung Kwon, Darnell Moore, Minh N. Do, "Accelerated Stereo Matching for Autonomous Vehicles using An Upright Pinhole Camera Modelin Proc. IS&T Int’l. Symp. on Electronic Imaging: Autonomous Vehicles and Machines,  2017,  pp 18 - 21,  https://doi.org/10.2352/ISSN.2470-1173.2017.19.AVM-013

 Copy citation
  Copyright statement 
Copyright © Society for Imaging Science and Technology 2017
72010604
Electronic Imaging
2470-1173
Society for Imaging Science and Technology