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Proceedings Paper

Comparison of mono- and stereo-camera systems for autonomous vehicle tracking
Author(s): Nasser Kehtarnavaz; Norman C. Griswold; J. K. Eem
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Paper 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.

Paper Details

Date Published: 1 March 1991
PDF: 12 pages
Proc. SPIE 1468, Applications of Artificial Intelligence IX, (1 March 1991); doi: 10.1117/12.45489
Show Author Affiliations
Nasser Kehtarnavaz, Texas A&M Univ. (United States)
Norman C. Griswold, Texas A&M Univ. (United States)
J. K. Eem, Texas A&M Univ. (United States)

Published in SPIE Proceedings Vol. 1468:
Applications of Artificial Intelligence IX
Mohan M. Trivedi, Editor(s)

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