Proposal of Optical Flow Calculation using Spherical Camera while Vehicle Cornering

Abstract

Previously, various studies have proposed a vehicle control method focused on optical flow(OF) that a human uses to perceive the direction of self-movement in order to make passengers not to feel danger while autonomous driving. However, the previous studies cannot control using OF calculated by driving image. In this research, we focus on optical flows on a retina to realize vehicle control with a higher affinity for passengers. This paper proposes a new method of OF calculation using a spherical camera to imitate the light on the retina and to improve the accuracy of OF. Especially, the proposed method used sensor fusion of the image processing with a spherical camera and an internal sensor.