Active stereo vision for precise autonomous vehicle control

Michael Feller, Jae Sang Hyun, Song Zhang

Research output: Contribution to journalConference articlepeer-review


This paper describes the development of a low-cost, lowpower, accurate sensor designed for precise, feedback control of an autonomous vehicle to a hitch. The solution that has been developed uses an active stereo vision system, combining classical stereo vision with a low cost, low power laser speckle projection system, which solves the correspondence problem experienced by classic stereo vision sensors. A third camera is added to the sensor for texture mapping. A model test of the hitching problem was developed using an RC car and a target to represent a hitch. A control system is implemented to precisely control the vehicle to the hitch. The system can successfully control the vehicle from within 35° of perpendicular to the hitch, to a final position with an overall standard deviation of 3.0 m m of lateral error and 1.5° of angular error.

Original languageEnglish
Article number258
JournalIS and T International Symposium on Electronic Imaging Science and Technology
Issue number16
Publication statusPublished - 2020 Jan 26
Event2020 Autonomous Vehicles and Machines Conference, AVM 2020 - Burlingame, United States
Duration: 2020 Jan 262020 Jan 30

Bibliographical note

Publisher Copyright:
© 2020, Society for Imaging Science and Technology.

All Science Journal Classification (ASJC) codes

  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Human-Computer Interaction
  • Software
  • Electrical and Electronic Engineering
  • Atomic and Molecular Physics, and Optics


Dive into the research topics of 'Active stereo vision for precise autonomous vehicle control'. Together they form a unique fingerprint.

Cite this