Stereo-assist: Top-down stereo for driver assistance systems

Gideon P. Stein, Yoram Gdalyahu, Amnon Shashua

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

29 Scopus citations


This paper presents a top-down approach to stereo for use in driver assistance systems. We introduce an asymmetric configuration where monocular object detection and range estimation is performed in the primary camera and then that image patch is aligned and matched in the secondary camera. The stereo distance measure from the matching assists in target verification and improved distance measurements. This approach, Stereo-Assist, shows significant advantages over the classical bottom-up stereo approach which relies on first computing a dense depth map and then using the depth map for object detection. The new approach can provide increased object detection range, reduced computational load, greater flexibility in camera configurations (we are no longer limited to side-by-side stereo configurations), greater robustness to obstructions in part of the image and mixed camera modalities FIR/VIS can be used. We show results with two novel configurations and illustrate how monocular object detection allows for simple online calibration of the stereo rig.

Original languageAmerican English
Title of host publication2010 IEEE Intelligent Vehicles Symposium, IV 2010
Number of pages8
StatePublished - 2010
Event2010 IEEE Intelligent Vehicles Symposium, IV 2010 - La Jolla, CA, United States
Duration: 21 Jun 201024 Jun 2010

Publication series

NameIEEE Intelligent Vehicles Symposium, Proceedings


Conference2010 IEEE Intelligent Vehicles Symposium, IV 2010
Country/TerritoryUnited States
CityLa Jolla, CA


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