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Distance estimation algorithm for both long and short ranges based on stereo vision system

Title
Distance estimation algorithm for both long and short ranges based on stereo vision system
Authors
Lim, Young-ChulLee, Chung-HeeKwon, SoonJung, Woo-Young
DGIST Authors
Lim, Young-Chul; Lee, Chung-HeeKwon, SoonJung, Woo-Young
Issue Date
2008
Citation
2008 IEEE Intelligent Vehicles Symposium, IV, 841-846
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
We present a distance measurement method based on stereo vision system while guaranteeing accuracy and reliability. It has been considered as difficult problem to measure both long and short distance with a stereo vision system accurately due to sampling error and camera sensor error. To resolve these problems of the stereo vision system, we utilize an algorithm which is consisted of a modified sub-pixel displacement method to enhance the accuracy of disparity and Strong Tracking Kalman filter (STKF) to reduce the camera sensor errors. Our displacement method and the usefulness of STKF are verified as compared to other displacement methods and Conventional Kalman filter (CKF) through simulating on the several distance ranges. The Monte-Carlo simulation results show that our algorithm is capable of measuring up to hundreds of meters while root mean square error (RMSE) maintains about 0.04 at all ranges, even though the target vehicle maneuvers or moves nonlinearly. © 2008 IEEE.
URI
http://hdl.handle.net/20.500.11750/3986
DOI
10.1109/IVS.2008.4621190
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
Files:
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Collection:
ETC2. Conference Papers
Convergence Research Center for Future Automotive Technology2. Conference Papers


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