Handling rolling shutter effects on semi-global matching in automotive scenarios
Alberto Broggi, Alessandro Cionini, Francesca Ghidini, Paolo Zani · 2017
Video sensors based on CMOS technology represent the vast majority of the adopted solutions for image acquisition systems equipped in unmanned vehicles and Advanced Driver Assistance Systems. These sensors typically employ a rolling shutter readout scheme, which causes image distortion in case of motion. This paper investigates how rolling shutter effects influence the performance of Semi-Global Matching, a state of the art dense stereo matching algorithm. In order to exhaustively evaluate those effects, the algorithm is computed over sequences acquired with a dedicated image acquisition system composed by two calibrated and synchronized stereo cameras, the first provided with global shutter sensors and the second with rolling shutter sensors. A pixel-wise comparison between the computed Disparity Space Images allows to determine the error in a field automotive test. An effective correction method is then applied to the rolling shutter Disparity Space Image, aiming to reduce the error and therefore to improve accurate position estimation of obstacles in automotive scenarios.