Conflict Judgment and Safety Assessment at Unsignalized Intersections Based on Machine Vision

Table 1

Distance obtained by monocular and binocular vision.

Lidar ranging range (cm)	Ranging mode	Actual distance (cm)	Calculated distance (cm)	Error (%)
0–300	Monocular	300	309.8	3.3
	Binocular		291.3	2.9
300–600	Monocular	600	620.4	3.4
	Binocular		617.3	2.9
600–900	Monocular	900	931.8	3.5
	Binocular		928.1	3.1
900–2000	Monocular	2000	1928.2	3.6
	Binocular		1935.4	3.3
2000–4000	Monocular	4000	4167.9	4.2
	Binocular		4164.1	4.1
4000–6000	Monocular	6000	5704.6	4.9
	Binocular		6292.7	4.9