jjdblast / stereovisionforadas

Stereo vision based object detection for ADAS, autonomous vehicle

Stereo vision for ADAS

Stereo vision for ADAS (unsupervised learning)

1. Stereo matching
2. Stixel estimation
3. Stixel segmentation(clustering), object detection
4. Surface Normal Vector estimation

Test on intel-core i7 desktop(cpu), processing time : 24ms/frame

Requirements

• C++ 11+
• OpenCV 2.4.9+, 3.0.0+
• OpenCV Extra (if you want to show 3D plot)
• pkg-config (mac, linux)
• cross platform(windows, osx, linux)

Usage

Input data (Test on KITTI data)

└── data
    └── left
        └── 010%d.png (start from 0000000000.png)
    └── right
        └── 010%d.png

To test a code in osx or linux

$ ./compile.sh
$ g++ -o stereovisionforadas ./*.cpp `pkg-config --cflags --libs opencv` --std=c++11
$ ./stereovisionforadas

To test a code in windows

• use visual studio, warning for opencv path (viz class)
• TBD

Algorithm

Result

Video : 3D visualization

Video : Objectness, surface normal

Acknowledgement

This project working in CVLab. at Inha Univ.

http://vision.inha.ac.kr/