Correcting decalibration of stereo cameras in self-driving vehicles

Muhovič, Jon Natanael (avtor), Perš, Janez (avtor)

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.

• Jezik: Angleški jezik
• Ključne besede: visual stereo, recalibration, optimization, ranging, self-driving vehicles
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Datum objave: 07.06.2020
• Leto izida: 2020
• Št. strani: 17 str.
• Številčenje: Vol. 20, iss. 11, art. 3241
• PID: 20.500.12556/RUL-128747
• UDK: 004.8
• ISSN pri članku: 1424-8220
• DOI: 10.3390/s20113241
• COBISS.SI-ID: 38143235
• Datum objave v RUL: 27.07.2021

Gradivo je del revije

• Naslov: Sensors
• Skrajšan naslov: Sensors
• Založnik: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.
• Začetek licenciranja: 07.06.2020

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: vidni stereo, rekalibracija, optimizacija, meritve razdalje, samovozeča vozila

Projekti

• Financer: ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
• Številka projekta: J2-8175
• Naslov: Robustne metode računalniškega vida za avtonomna robotska plovila

• Financer: ARRS - Agencija za raziskovalno dejavnost Republike Slovenije
• Številka projekta: P2-0095
• Naslov: Vzporedni in porazdeljeni sistemi