• Title/Summary/Keyword: Bifocal Camera

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Depth Generation using Bifocal Stereo Camera System for Autonomous Driving (자율주행을 위한 이중초점 스테레오 카메라 시스템을 이용한 깊이 영상 생성 방법)

  • Lee, Eun-Kyung
    • The Journal of the Korea institute of electronic communication sciences
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    • v.16 no.6
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    • pp.1311-1316
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    • 2021
  • In this paper, we present a bifocal stereo camera system combining two cameras with different focal length cameras to generate stereoscopic image and their corresponding depth map. In order to obtain the depth data using the bifocal stereo camera system, we perform camera calibration to extract internal and external camera parameters for each camera. We calculate a common image plane and perform a image rectification for generating the depth map using camera parameters of bifocal stereo camera. Finally we use a SGM(Semi-global matching) algorithm to generate the depth map in this paper. The proposed bifocal stereo camera system can performs not only their own functions but also generates distance information about vehicles, pedestrians, and obstacles in the current driving environment. This made it possible to design safer autonomous vehicles.