Stereo panoramic vision for monitoring vehicle blind-spots

Abstract

This paper presents a stereo panoramic sensor as part of a driver assistance system to monitor driver blind-spots around vehicles. With our system we have generated panoramic disparity maps to reliably estimate range to objects in the surrounding environment. It was also proven that it is possible to apply the /spl nu/-disparity algorithm to panoramic images to successfully segment obstacles, even in the case of extremely noisy data. The stereo system has been evaluated using ground truth data, together with extensive field experiments.