Rieder 1996 : This paper presents a new camera arrangement for an autonomous vehicle. This camera system consists of three cameras. Two cameras with divergent optical axes and 4 mm wide angle lenses provide the system with an overview of the traffic scene. A third camera with a 16 mm tele-lens is used to obtain more detailed information in the central field of view. In order to achieve active vision, all cameras are mounted on a pan and tilt platform, so that they can be pointed in azimuth and elevation. Two different camera models are developed and their parameters determined in an offline automatic calibration process. Since the fields of view of the three cameras overlap, stereo triangulation is possible. A feature based approach using position trees helps to solve the correspondence problem in real time.



pict0.jpg