Double-direction fisheye plane sweep stereo for road surface 3D reconstruction

Eijiro Shibusawa; Hiromichi Sotodate; Norishige Fukushima

doi:10.1117/12.2666981

25 March 2023 Double-direction fisheye plane sweep stereo for road surface 3D reconstruction

Eijiro Shibusawa, Hiromichi Sotodate, Norishige Fukushima

Proceedings Volume 12592, International Workshop on Advanced Imaging Technology (IWAIT) 2023; 125920M (2023) https://doi.org/10.1117/12.2666981
Event: International Workshop on Advanced Imaging Technology (IWAIT) 2023, 2023, Jeju, Korea, Republic of

Abstract

This paper presents double-direction plane sweep stereo, an accurate 3D reconstruction method of the road surface using a fisheye stereo camera, where the normal vectors of the planes are rotated according to the camera pose. As a result, the proposed method can obtain a dense, accurate, and wide FoV reconstruction even in a situation where the road surface has a slope or steps. Moreover, a simple and fast approximation of the LR consistency check is presented. The consistency check efficiently removes outliers, especially the occluded region due to proximal obstacles. The experimental result of real image shows the effectiveness of the proposed method, where the reconstruction error of surface height is less than 2.5cm.

Citation Download Citation

Eijiro Shibusawa, Hiromichi Sotodate, and Norishige Fukushima "Double-direction fisheye plane sweep stereo for road surface 3D reconstruction", Proc. SPIE 12592, International Workshop on Advanced Imaging Technology (IWAIT) 2023, 125920M (25 March 2023); https://doi.org/10.1117/12.2666981

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