Comparison of mono- and stereo-camera systems for autonomous vehicle tracking

Nasser Kehtarnavaz; Norman C. Griswold; J. K. Eem

doi:10.1117/12.45489

1 March 1991 Comparison of mono- and stereo-camera systems for autonomous vehicle tracking

Nasser Kehtarnavaz, Norman C. Griswold, J. K. Eem

Proceedings Volume 1468, Applications of Artificial Intelligence IX; (1991) https://doi.org/10.1117/12.45489
Event: Orlando '91, 1991, Orlando, FL, United States

Abstract

When a vision sensor is used to provide the sensory input of an autonomous vehicle, most researchers rely on a monocular camera system. In this paper, we have compared the capabilities and limitations of a monocular camera system with respect to a binocular camera system for the purpose of performing autonomous vehicle tracking. The problem of vehicle tracking includes automatic speed and steering control of an unmanned vehicle following the motion of a lead vehicle. We have indicted how the relative position of a lead vehicle is computed visually and investigated the quantization, tilt angle, pan angle, and road slope errors associated with a monocular and a binocular vision sensor. We have shown that a binocular camera system provides a more robust sensing mechanism when operating under realistic outdoor conditions.

Citation Download Citation

Nasser Kehtarnavaz, Norman C. Griswold, and J. K. Eem "Comparison of mono- and stereo-camera systems for autonomous vehicle tracking", Proc. SPIE 1468, Applications of Artificial Intelligence IX, (1 March 1991); https://doi.org/10.1117/12.45489

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