Generation of multi-level disparity map from stereo wide angle fovea vision system

Naoaki Kameyama, Motonori Tominaga, Naoki Kawasaki, Sota Shimizu, Osamu Shimomura, Kazuhisa Ishimaru, Rei Murakami, Yusuke Akamine, Seiichi Mita

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper proposes a novel concept of a multi-level disparity map (distance image) characterized by input images from the Wide Angle Fovea (WAF) lens. The authors focuses on a unique property of the W A F lens, i.e., the lens magnification is the highest locally in the central field of view (FOV) and decreases rapidly towards the peripheral FOV. Thus, the input image by the W A F lens achieves more accurate and wider-angle observation simultaneously without increasing the number of image pixels. Our proposed algorithm generates the multi-level disparity map based on the parallel stereo vision method. By using the disparity map, generated from the central region having the high-spatial resolution, we can measure the distance of a target object being quite far away ahead from the W A F stereo vision system very accurately. On the same time, by using the disparity map generated from the peripheral region, we can obtain 3D information of a wider space comparatively close to the vision system by adequate accuracy to some degree. We have implemented the proposed algorithm to the W A F stereo vision system and have experimented in order to verify its performance. The authors think our proposed multi-level disparity map is quite applicable for improving safety of the automatic driving assistance system.

Original languageEnglish
Title of host publicationProceedings
Subtitle of host publicationIECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5451-5456
Number of pages6
ISBN (Electronic)9781509066841
DOIs
Publication statusPublished - 2018 Dec 26
Event44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States
Duration: 2018 Oct 202018 Oct 23

Publication series

NameProceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
CountryUnited States
CityWashington
Period18/10/2018/10/23

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Keywords

  • Automatic driving assistance syst
  • High accuracy dista image
  • Multi-level disparity map
  • Wide angle fovea sensor parallel stereo vision system
  • Wide-angle distance image

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Control and Optimization

Cite this

Kameyama, N., Tominaga, M., Kawasaki, N., Shimizu, S., Shimomura, O., Ishimaru, K., ... Mita, S. (2018). Generation of multi-level disparity map from stereo wide angle fovea vision system. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society (pp. 5451-5456). [8591128] (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2018.8591128