BINOCULAR STEREO VISION FOR GROUND TRUTH DATA COLLECTION IN MONOCULAR ADAS CAMERA SCENE RECONSTRUCTION

원문 (중국어)

An apparatus includes a chassis and a processor. The chassis may be configured to be mounted to a vehicle and to hold a first ADAS camera and a second ADAS camera. The chassis generally provides a coarse alignment of the first ADAS camera and the second ADAS camera to obtain stereo images of an area outside of the vehicle. The processor may be configured to (i) generate a frame synchronization signal based on a real-time clock signal, (ii) present the frame synchronization signal and one or more control signals to the first ADAS camera and the second ADAS camera, (iii) receive a first pixel datastream corresponding to the area outside of the vehicle from the first ADAS camera, (vi) receive a second pixel datastream corresponding to the area outside of the vehicle from the second ADAS camera, (v) process the first pixel datastream arranged as first video frames and the second pixel datastream arranged as second video frames, (vi) compute warp parameters for the first ADAS camera and the second ADAS camera to finely align pixel data of the first video frames with pixel data of the second video frames, and (vii) generate ground truth data based on the first video frames from the first ADAS camera and the second video frames from the second ADAS camera.