Obstacle location estimation using planar projection stereopsis method
| Autor: | Nobuyuki Takeda, Kazunori Onoguchi, Mutsumi Watanabe |
|---|---|
| Rok vydání: | 2001 |
| Předmět: |
Relation (database)
Matching (graph theory) Planar projection Computer science business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Optical flow Image processing Tracking (particle physics) Theoretical Computer Science Stereopsis Intersection Computational Theory and Mathematics Hardware and Architecture Computer Science::Computer Vision and Pattern Recognition Motion estimation Obstacle Point (geometry) Computer vision Artificial intelligence Focus (optics) business Computer stereo vision Information Systems |
| Zdroj: | ICRA |
| ISSN: | 1520-684X 0882-1666 |
| DOI: | 10.1002/scj.1093 |
| Popis: | This paper presents a new method for estimating locations of moving obstacles from stereo images without tracking between image frames and without searching corresponding points between stereo images. First, a free-space map in front of a vehicle is created by the planar projection stereopsis method which can easily decide whether or not each point in a stereo image exists on a ground plane. Next, the moving obstacles detected in an image by using the residual error calculated in the process of focus of expansion estimation are projected to the free-space map. In the free space map, obstacle locations are estimated as the intersection between the projected obstacle areas and the contour of a free-space area. Experimental results for real road scenes with pedestrian, bicycle or automobile as moving obstacles show the effectiveness of the proposed method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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