TRINOCULAR STEREO-BASED 3D REPRESENTATION OF DRIVING ENVIRONMENT USING U-V-DISPARITY

摘要

Laser or millimeter wave radars have shown good performance in measuring relative speed and distance in a highway driving environment. However the accuracy of these systems decreases in an urban traffic environment as more confusion occurs due to factors such as parked vehicles, guardrails, poles and motorcycles. A trinocular stereo-based sensing system provides an effective supplement to radar-based road scene analysis with its much wider field of view and more accurate lateral information. This paper presents an efficient solution using a trinocular stereo based 3D representation method of driving environment which employs the "U-V-disparity" concept. It is used to classify a 3D road scene into relative surface planes and characterize the features of road pavement surfaces, roadside structures and obstacles. Real-time implementation of the trinocular stereo disparity calculation and the "U-V-disparity" classification algorithm is also presented in this paper.