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

Fingerprint

Stereo vision
Lenses
Pixels

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

Generation of multi-level disparity map from stereo wide angle fovea vision system. / Kameyama, Naoaki; Tominaga, Motonori; Kawasaki, Naoki; Shimizu, Sota; Shimomura, Osamu; Ishimaru, Kazuhisa; Murakami, Rei; Akamine, Yusuke; Mita, Seiichi.

Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2018. p. 5451-5456 8591128 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society).

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

Kameyama, N, Tominaga, M, Kawasaki, N, Shimizu, S, Shimomura, O, Ishimaru, K, Murakami, R, Akamine, Y & 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., 8591128, Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, Institute of Electrical and Electronics Engineers Inc., pp. 5451-5456, 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018, Washington, United States, 18/10/20. https://doi.org/10.1109/IECON.2018.8591128
Kameyama N, Tominaga M, Kawasaki N, Shimizu S, Shimomura O, Ishimaru K et al. 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. Institute of Electrical and Electronics Engineers Inc. 2018. p. 5451-5456. 8591128. (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). https://doi.org/10.1109/IECON.2018.8591128
Kameyama, Naoaki ; Tominaga, Motonori ; Kawasaki, Naoki ; Shimizu, Sota ; Shimomura, Osamu ; Ishimaru, Kazuhisa ; Murakami, Rei ; Akamine, Yusuke ; Mita, Seiichi. / Generation of multi-level disparity map from stereo wide angle fovea vision system. Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 5451-5456 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society).
@inproceedings{2eb10aa25b61431785ee05c246f26b78,
title = "Generation of multi-level disparity map from stereo wide angle fovea vision system",
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.",
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",
author = "Naoaki Kameyama and Motonori Tominaga and Naoki Kawasaki and Sota Shimizu and Osamu Shimomura and Kazuhisa Ishimaru and Rei Murakami and Yusuke Akamine and Seiichi Mita",
year = "2018",
month = "12",
day = "26",
doi = "10.1109/IECON.2018.8591128",
language = "English",
series = "Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5451--5456",
booktitle = "Proceedings",

}

TY - GEN

T1 - Generation of multi-level disparity map from stereo wide angle fovea vision system

AU - Kameyama, Naoaki

AU - Tominaga, Motonori

AU - Kawasaki, Naoki

AU - Shimizu, Sota

AU - Shimomura, Osamu

AU - Ishimaru, Kazuhisa

AU - Murakami, Rei

AU - Akamine, Yusuke

AU - Mita, Seiichi

PY - 2018/12/26

Y1 - 2018/12/26

N2 - 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.

AB - 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.

KW - Automatic driving assistance syst

KW - High accuracy dista image

KW - Multi-level disparity map

KW - Wide angle fovea sensor parallel stereo vision system

KW - Wide-angle distance image

UR - http://www.scopus.com/inward/record.url?scp=85061525284&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85061525284&partnerID=8YFLogxK

U2 - 10.1109/IECON.2018.8591128

DO - 10.1109/IECON.2018.8591128

M3 - Conference contribution

T3 - Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

SP - 5451

EP - 5456

BT - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

ER -