<title>Comparison of mono- and stereo-camera systems for autonomous vehicle tracking</title>

Abstract

When a vision sensor is used to provide the sensory input of an autonomous vehicle, most researchers rely on a monocular camera system. In this paper, we have compared the capabilities and limitations of a monocular camera system with respect to a binocular camera system for the purpose of performing autonomous vehicle tracking. The problem of vehicle tracking includes automatic speed and steering control of an unmanned vehicle following the motion of a lead vehicle. We have indicted how the relative position of a lead vehicle is computed visually and investigated the quantization, tilt angle, pan angle, and road slope errors associated with a monocular and a binocular vision sensor. We have shown that a binocular camera system provides a more robust sensing mechanism when operating under realistic outdoor conditions.