This project deals with the development of an asynchronous hybrid network composed of wide-angle cameras and 2D lasers in the context of Driver Assistance System (DAS). It is now well established that the optical and range sensors are very useful for various tasks such as lane keeping assistant, road detection, motion estimation, obstacle avoidance, … Many different configurations are possible according to the kind of optical devices (perspective, catadioptric, fish-eye cameras, IR cameras, …) and of range sensors (visible/invisible, 2D/3D) and their numbers (mono, stereo, multiple). In this project, we are mainly interesting by multiple wide-angle fisheye cameras in collaboration with a set of 2D lasers. This configuration has the main advantage of being low-cost but also very effective. Generally, these multi-sensor systems are composed of devices that are perfectly synchronized and calibrated. However, contrary to previous similar systems, we do not impose any constraints about the synchronization of these cameras and lasers as well as about their relative position (calibration). These aspects of unsynchronization and unknown calibration constitute the main contributions of our project since it permits to obtain a low cost system easy to implement on a car (no synchronization system and a limited wiring). Moreover they represent a real scientific challenge since several fundamental issues have to be solved. In the project, we then propose to study the case of an hybrid asynchronous network composed of several fish-eye cameras with overlapping fields of view and 2D lasers distributed around the vehicle, in the context of Driver Assistance System (DAS) and Intelligent Vehicles. The different applications that we propose to develop for DAS are the Dense Hybrid Structure from Motion around the vehicle, road detection for vehicle localization, obstacle detection.
Project dates: 2012-2015
Funded by:
Project dates: 2012-2015
Funded by:
