20.500.12556/RUL-128747 Correcting decalibration of stereo cameras in self-driving vehicles Camera systems in autonomous vehicles are subject to various sources of anticipated and unanticipated mechanical stress (vibration, rough handling, collisions) in real-world conditions. Even moderate changes in camera geometry due to mechanical stress decalibrate multi-camera systems and corrupt downstream applications like depth perception. We propose an on-the-fly stereo recalibration method applicable in real-world autonomous vehicles. The method is comprised of two parts. First, in optimization step, external camera parameters are optimized with the goal to maximise the amount of recovered depth pixels. In the second step, external sensor is used to adjust the scaling of the optimized camera model. The method is lightweight and fast enough to run in parallel with stereo estimation, thus allowing an on-the-fly recalibration. Our extensive experimental analysis shows that our method achieves stereo reconstruction better or on par with manual calibration. If our method is used on a sequence of images, the quality of calibration can be improved even further. visual stereo recalibration optimization ranging self-driving vehicles vidni stereo rekalibracija optimizacija meritve razdalje samovozeča vozila true false true Angleški jezik Slovenski jezik Članek v reviji 2021-07-27 11:22:57 2021-07-27 11:22:58 2022-09-07 04:16:57 0000-00-00 00:00:00 2020 0 0 17 str. iss. 11, art. 3241 Vol. 20 Jun.-1 2020 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 2020-06-07 004.8 1424-8220 10.3390/s20113241 38143235 RAZ_Muhovic_Jon_Natanael_2020.pdf RAZ_Muhovic_Jon_Natanael_2020.pdf 1 EEBDE8E9838C696E046883127B274DF9 cdc60c6d3ba82b06326154999dd648bbd4f14d0e78fbb64048538182d94baa9c 9ce70652-eebc-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=145595 https://www.mdpi.com/1424-8220/20/11/3241 1 107216ea-eebc-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=145594 Fakulteta za elektrotehniko 0 0 0