论文标题
通过立体摄像机进行自动驾驶的立体摄像头稳健，准确的对象速度检测
Robust and Accurate Object Velocity Detection by Stereo Camera for Autonomous Driving
论文作者
论文摘要
尽管在车辆上安装的基于摄像头的传感器的数量最近已大大增加，但稳健而准确的对象速度检测很难。此外，使用雷达作为融合系统仍然很常见。我们已经开发了一种方法，可以根据汽车制造商斯巴鲁（Subaru）在20年内收集的大型数据集准确地检测对象的速度。提出的方法包括三种方法：高动态范围（HDR）检测方法，该方法融合了多个立体声差异图像，一种结合了单眼和立体声识别结果的融合方法以及一种新的速度计算方法。使用测量设备和测试课程进行评估，该课程可以通过将开发的立体声摄像头安装在实际车辆上，从而定量重现严重的环境。
Although the number of camera-based sensors mounted on vehicles has recently increased dramatically, robust and accurate object velocity detection is difficult. Additionally, it is still common to use radar as a fusion system. We have developed a method to accurately detect the velocity of object using a camera, based on a large-scale dataset collected over 20 years by the automotive manufacturer, SUBARU. The proposed method consists of three methods: an High Dynamic Range (HDR) detection method that fuses multiple stereo disparity images, a fusion method that combines the results of monocular and stereo recognitions, and a new velocity calculation method. The evaluation was carried out using measurement devices and a test course that can quantitatively reproduce severe environment by mounting the developed stereo camera on an actual vehicle.
