  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.
