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Volume: 31 | Article ID: art00005
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Integration of advanced stereo obstacle detection with perspectively correct surround views
  DOI :  10.2352/ISSN.2470-1173.2019.15.AVM-032  Published OnlineJanuary 2019
Abstract

The safe navigation of large commercial vehicles implies the extended need for the surveillance of the direct surroundings. Nowadays surround view systems show heavy distortions and only have a limited range around the vehicle which may not be far enough to detect obstacles or persons early. We present a novel method which fuses an advanced perspectively correct surround view with an advanced obstacle detection. The method proposed is based on stereo vision and uses geometric modelling of the en- vironment using a grid map data structure. The grid map is pro- cessed by a refinement algorithm to overcome limitations of the grid map when approximating shapes of the obstacles which are highlighted in the surround view.

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Christian Fuchs, Dietrich Paulus, "Integration of advanced stereo obstacle detection with perspectively correct surround viewsin Proc. IS&T Int’l. Symp. on Electronic Imaging: Autonomous Vehicles and Machines Conference,  2019,  pp 32-1 - 32-10,  https://doi.org/10.2352/ISSN.2470-1173.2019.15.AVM-032

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