{"title":"Estimation of Road Surface Plane and Object Height Focusing on the Division Scale in Disparity Image Using Fisheye Stereo Camera","authors":"Tomoyu Sakuda, Hikaru Chikugo, Kento Arai, Sarthak Pathak, Kazunori Umeda","doi":"10.20965/jrm.2023.p1354","DOIUrl":null,"url":null,"abstract":"In this paper, we propose a novel algorithm for estimating road surface shapes and object heights using a fisheye stereo camera. Environmental recognition is an important task for advanced driver-assistance systems. However, previous studies have only achieved narrow measurement ranges owing to sensor restrictions. Moreover, the previous approaches cannot be used in environments where the slope changes because they assume inflexible constraints on the road surfaces. We use a fisheye stereo camera capable of measuring wide and dense 3D information and design a novel algorithm by focusing on the degree of division in a disparity image to overcome these defects. Experiments show that our method can detect an object in various environments, including those with inclined road surfaces.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"70 6","pages":"0"},"PeriodicalIF":0.9000,"publicationDate":"2023-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Robotics and Mechatronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.20965/jrm.2023.p1354","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, we propose a novel algorithm for estimating road surface shapes and object heights using a fisheye stereo camera. Environmental recognition is an important task for advanced driver-assistance systems. However, previous studies have only achieved narrow measurement ranges owing to sensor restrictions. Moreover, the previous approaches cannot be used in environments where the slope changes because they assume inflexible constraints on the road surfaces. We use a fisheye stereo camera capable of measuring wide and dense 3D information and design a novel algorithm by focusing on the degree of division in a disparity image to overcome these defects. Experiments show that our method can detect an object in various environments, including those with inclined road surfaces.
期刊介绍：
First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.
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