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Stereoscopic Camera...
Stereoscopic Camera-Sensor Model for the Development of Highly Automated Driving Functions within a Virtual Test Environment
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- Degen, René, 1994- (författare)
- Uppsala universitet,Elektricitetslära,CAD CAM Center Cologne, Institute of Automotive Engineering Cologne (IFK), Faculty of Automotive Systems and Production, Cologne University of Applied Sciences, Cologne, Germany.
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- de Fries, Martin (författare)
- CAD CAM Center Cologne, Institute of Automotive Engineering Cologne (IFK), Faculty of Automotive Systems and Production, Cologne University of Applied Sciences, Cologne, Germany.
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- Nüssgen, Alexander (författare)
- Uppsala universitet,Elektricitetslära,CAD CAM Center Cologne, Institute of Automotive Engineering Cologne (IFK), Faculty of Automotive Systems and Production, Cologne University of Applied Sciences, Cologne, Germany.
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- Irmer, Marcus, 1995- (författare)
- Uppsala universitet,Elektricitetslära,CAD CAM Center Cologne, Institute of Automotive Engineering Cologne (IFK), Faculty of Automotive Systems and Production, Cologne University of Applied Sciences, Cologne, Germany.
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- Leijon, Mats, 1958- (författare)
- Uppsala universitet,Elektricitetslära
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- Ruschitzka, Margot (författare)
- CAD CAM Center Cologne, Institute of Automotive Engineering Cologne (IFK), Faculty of Automotive Systems and Production, Cologne University of Applied Sciences, Cologne, Germany.
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(creator_code:org_t)
- Scientific Research Publishing, 2023
- 2023
- Engelska.
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Ingår i: Journal of Transportation Technologies. - : Scientific Research Publishing. - 2160-0473 .- 2160-0481. ; 13:1, s. 87-114
- Relaterad länk:
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https://doi.org/10.4...
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https://uu.diva-port... (primary) (Raw object)
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https://urn.kb.se/re...
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https://doi.org/10.4...
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Abstract
Ämnesord
Stäng
- The need for efficient and reproducible development processes for sensor and perception systems is growing with their increased use in modern vehicles. Such processes can be achieved by using virtual test environments and virtual sensor models. In the context of this, the present paper documents the development of a sensor model for depth estimation of virtual three-dimensional scenarios. For this purpose, the geometric and algorithmic principles of stereoscopic camera systems are recreated in a virtual form. The model is implemented as a subroutine in the Epic Games Unreal Engine, which is one of the most common Game Engines. Its architecture consists of several independent procedures that enable a local depth estimation, but also a reconstruction of a whole three-dimensional scenery. In addition, a separate programme for calibrating the model is presented. In addition to the basic principles, the architecture and the implementation, this work also documents the evaluation of the model created. It is shown that the model meets specifically defined requirements for real-time capability and the accuracy of the evaluation. Thus, it is suitable for the virtual testing of common algorithms and highly automated driving functions.
Nyckelord
- Sensor Model
- Virtual Test Environment
- Stereoscopic Camera
- Unreal Engine
- OpenCV
- ADAS/AD
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- art (ämneskategori)
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