Omnidirectional Cameras for Safe Automobile Driving Doctoral Thesis
نویسنده
چکیده
Maneuvering vehicles is often a challenging task, because drivers are not able to see the whole surrounding area. In particular parts in the direct vicinity are not seen due to the driver’s position and the shape of the vehicle. Especially drivers of large vehicles, like truck-trailer combinations and buses, suffer from the limited field of view that also poses a risk to pedestrians and bicyclists. By presenting an image of the vehicle’s surroundings to the driver, not only accidents with vulnerable road users will be reduced but also minor damages to the vehicle while maneuvering. In this thesis, a system has been devised that enables drivers to surveil the complete surrounding area of their vehicle. The setup comprises up to four catadioptric cameras attached to a vehicle. By means of a CAD model of the vehicle, an optimal mount position of the cameras was found which covers the whole surrounding area and avoids occlusions due to the shape of the vehicle. In order to obtain an image of the surrounding area, the catadioptric images are transformed and stitched together in such a way that every object in the surrounding area of the vehicle is visible in the resulting bird’s-eye view image. In addition to the bird’s-eye view image, corridors indicating the motion path of the vehicle are overlaid to the bird’s-eye view image. These corridors allow drivers of light and heavy transporter to maneuver their vehicle easily and precisely to the desired position. In order to determine the motion path of automobiles and truck-trailer combinations, a single track model has been presented. Experiments have shown that the model is very accurate and hence represents the motion path of vehicles very well.
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