Abstract

The article considers the active safety system of road freight transport. The stereoscopic computer vision is the core of the system. The article also describes the major algorithms of active safety and the accuracy characteristics of algorithms’ application. Document type: Part of book or chapter of book

Abstract

This paper discusses the detection of moving objects (being a crucial part of driver assistance systems) using monocular or stereoscopic computer vision. In both cases, object detection is based on motion analysis of individually tracked image points (optical flow), providing a motion metric which corresponds to the likelihood that the tracked point is moving. Based on this metric, points are segmented into objects by employing a globally optimal graph-cut algorithm. Both approaches are comparatively evaluated using real-world vehicle image sequences. Document type: Part of book or chapter of book

Abstract

Underwater imaging is being increasingly helpful for the autonomous robots to reconstruct and map the marine environments which is fundamental for searching for pipelines or wreckages in depth waters. In this context, the accuracy of the information obtained from the environment is of extremely importance. This work presents a study about the accuracy of a reconfigurable stereo vision system while determining a dense disparity estimation for underwater imaging. The idea is to explore the advantage of this kind of system for underwater autonomous vehicles (AUV) since varying parameters like the baseline and the pose of the cameras make possible to extract accurate 3D information at different distances between the AUV and the scene. Therefore, the impact of these parameters is analyzed using a metric error of the point cloud acquired by a stereoscopic system. Furthermore, results obtained directly from an underwater environment proved that a reconfigurable stereo system can have some advantages for autonomous vehicles since, in some trials, the error was reduced by 0.05 m for distances between 1.125 and 2.675 m. Document type: Part of book or chapter of book