Distance and relative speed estimation of binocular camera images based on defocus and disparity information

In this paper, we discuss a method of distance and relative speed estimation for ITS by using a certain amount of focus blur. In this method, we use different focus positions of two cameras for obtaining the amount of focus blur. Next, we propose the method of distance estimation by the amount of focus blur and disparity information. According to the result of simulation, the distance and relative speed were estimated reasonably. In addition, we compose a prototype system for the real-time estimation of distance and relative speed. The system consisted of CMOS sensors designed for this processing, an FPGA, a PC, and other devices. As a result of the implementation of processing, our system was properly validated.