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This paper presents a stereo-vision based system for the recognition of dangerous situations at roundabouts. At first, we investigate the necessary field of view and viewing direction using videos taken by a panoramic camera. Using the insights of these tests we build up a stereo-vision system. This system is based on the well established disparity estimation scheme Semi-Global Matching and the recently introduced medium-level representation called Dynamic Stixel-World. A time-to-contactdoi:10.1109/ivs.2012.6232178 dblp:conf/ivs/MuffertMPF12 fatcat:rfq7qvr6tfc7jgjwj2evovsfxq