Although the number of camera-based sensors mounted on vehicles has recently increased dramatically, robust and accurate object velocity detection is difficult. Additionally, it is still common to use radar as a fusion system. We have developed a method to accurately detect the velocity of object using a camera, based on a large-scale dataset collected over 20 years by the automotive manufacturer, SUBARU. The proposed method consists of three methods: an High Dynamic Range (HDR) detection method that fuses multiple stereo disparity images, a fusion method that combines the results of monocular and stereo recognitions, and a new velocity calculation method. The evaluation was carried out using measurement devices and a test course that can quantitatively reproduce severe environment by mounting the developed stereo camera on an actual vehicle.

翻译：虽然车辆上安装的基于摄像的传感器数量最近急剧增加,但很难对物体速度进行可靠和准确的探测,此外,使用雷达作为聚变系统仍然很常见,我们已经根据汽车制造商亚毛鲁瓦20年来收集的大规模数据集,开发了一种方法,精确地探测使用照相机的物体速度,提议的方法包括三种方法:高动态距离探测方法,将多种立体差异图像结合在一起,一种结合单镜和立体识别结果的聚变方法,以及一种新的速度计算方法,评价使用测量装置和试验课程进行,通过在实际车辆上安装已开发的立体摄像机,可以对严重环境进行定量复制。