Rear obstacle detection system with fisheye stereo camera using HCT

作者：

Highlights：

• Disparity for wide range from fish-eye stereo camera is suitable to rear applications.

• Hierarchical structure provides real-time and stable disparity regardless of window-size.

• Block independency of initial census map is appropriate to graphic processing unit.

• Extracting obstacle candidate region reduces efficiently obstacle search regions.

摘要

•Disparity for wide range from fish-eye stereo camera is suitable to rear applications.•Hierarchical structure provides real-time and stable disparity regardless of window-size.•Block independency of initial census map is appropriate to graphic processing unit.•Extracting obstacle candidate region reduces efficiently obstacle search regions.

论文关键词：Fisheye stereo cameras,Hierarchical census transform (HCT),Stereo matching,Obstacle detection region (OCR),Obstacle detection

论文评审过程：Available online 4 May 2015, Version of Record 15 May 2015.

论文官网地址：https://doi.org/10.1016/j.eswa.2015.04.035