ABSTRACT
Many car accidents involving vulnerable road users occur on rural roads after dark, when the driver’s visibility is restricted. As the range of distance resolution increases with the baseline of a stereo system, a wide baseline stereo system is necessary to facilitate the augmentation of objects in the desired range. The descriptor of an image feature characterizes the detected feature point. The large variety of image feature detectors and descriptors clearly show the manifold approaches to defining and describing characteristic points in images. Matching image features results in a list of pixel correspondences between the left and right input image of the stereo image pair. Calibration errors lead to erroneous reconstruction values. The camera parameters enable the rectification, which is the projection of the camera images to a common image plane and they form the basis for further processing.
