広角高わい曲レンズ中心窩視覚センサシステムの開発 : 平行二直線アルゴリズムによる道路境界線からの位置姿勢検出

概要

論文の詳細を見る
The authors have conducted research into a vision sensor system which is functionally similar to the human eye. We have designed and manufactured a special lens to realize this function. The lens system provides an extensive 120-degree visual field, by optically enlarging the image in the central area and compressing it in the peripheral area. In this paper, the authors propose a new method to detect a camera's location and gazing direction based on two parallel boundary lines of a road projected in the peripheral area, and show that it works precisely and efficiently. Subsequently, we apply this method to a curved road and compare the location detected from the boundary lines with the actual camera location, and establish that there is reasonable agreement between the two.
社団法人日本機械学会の論文
1997-12-25