3D Environment Recognition Using Omni-directional Camera from Moving Vehicle
移动车辆上全方向摄像机的3D环境识别*

This research aims at developing a sensor system which will be able to recognize city area environments from a moving vehicle.A city area which is a rather cluttered outdoor man-made environment requires different recognition methods from indoor or highway environments.Toward this goal,an omni-directional camera and epipolar geometry are employed.At the end of the paper,the result of the experiments are gaved and the theory is verified.