自律走行車のための広角およびステレオ画像の融合モジュールの開発  [in Japanese] Development of a Fusing Module of the Images from Wide View Field and Stereo Cameras for an Autonomous Running Vehicle  [in Japanese]

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Author(s)

Abstract

This study investigates a technique combining middle view field stereo cameras with a rotation mechanism and a wide view field camera to recognize running environment of both front and side of a vehicle. A fusing module of the images from the wide view field and stereo cameras is developed, where complicated data processes such as coordinate transformation, image fusing, etc. are executed on CPU-type processing units and primary processes of image data such as extraction of object regions from color images, labelling of extracted object regions, etc. are executed on CPLDs (Complex Programmable Logic Devices). Algorithms of labelling, compensation of the distortion occurred in wide view field images, and fusing the depth image from the stereo cameras into the image from the wide view field camera are implemented on the fusing module. Several experiments of image fusing for well-ordered indoor scenes show the applicability of the module to indoor situations.

Journal

  • Transactions of the Japan Society of Mechanical Engineers. Series C.

    Transactions of the Japan Society of Mechanical Engineers. Series C. 70(693), 1371-1379, 2004-05-25

    The Japan Society of Mechanical Engineers

References:  7

Codes

  • NII Article ID (NAID)
    110006263889
  • NII NACSIS-CAT ID (NCID)
    AN00187463
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    03875024
  • NDL Article ID
    6967868
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1056
  • Data Source
    CJP  NDL  NII-ELS 
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