A compact omnidirectional stereo camera for autonomous driving

Ryota Kawamata; Keiichi Betsui; Takeshi Shimano; Kazuyoshi Yamazaki

doi:10.1117/12.2568334

20 August 2020 A compact omnidirectional stereo camera for autonomous driving

Ryota Kawamata, Keiichi Betsui, Takeshi Shimano, Kazuyoshi Yamazaki

Proceedings Volume 11500, ODS 2020: Industrial Optical Devices and Systems; 115000B (2020) https://doi.org/10.1117/12.2568334
Event: SPIE Optical Engineering + Applications, 2020, Online Only

Abstract

Compact and low-cost devices are needed for autonomous driving to image and measure distances to objects 360-degree around. We have been developing an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a lens and sensor, which makes this camera cost efficient. This paper presents a new calibration method for this camera. Based on the original calibration method by Mei and Rives, we improve the calibration accuracy by considering higherorder radial distortion, detailed tangential distortion, an image sensor tilt, and a lens-mirror offset. Our method is applied to our prototype and reduces the root mean square of the calibration accuracy by 1.2 times and 2.2 times for the upper- and lower-view images, respectively. The distance error is less than 8% up to objects 14 meters apart, which is improved more than seven times compared to the original method, although the error is still larger than the target value of 5%. We consider that the remaining calibration error is due to distortion of the glass cylinder and a degraded optical resolution. As future work, we plan to make further improvements in the calibration and optical resolution of the prototype. In addition, a rectification method for cylindrically expanded images needs to be developed.

Conference Presentation

Citation Download Citation

Ryota Kawamata, Keiichi Betsui, Takeshi Shimano, and Kazuyoshi Yamazaki "A compact omnidirectional stereo camera for autonomous driving", Proc. SPIE 11500, ODS 2020: Industrial Optical Devices and Systems, 115000B (20 August 2020); https://doi.org/10.1117/12.2568334

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available