Stereo-based Free Space Computation in Complex Traffic Scenarios

Authors:
Hernan Badino;Rudolf Mester;Tobi Vaudrey;Uwe Franke;AG Daimler
Affiliations:
J. W. Goethe University, VSI Laboratory, Frankfurt am Main, Germany, hernan.badino@vsi.cs.uni-frankfurt.de;J. W. Goethe University, VSI Laboratory, Frankfurt am Main, Germany, rudolf.mester@vsi.cs.uni-frankfurt.de;The University of Auckland, Computer Science Department, Auckland, New Zealand, tvau003@ec.auckland.ac.nz;Environment Perception, Stuttgart, Germany, uwe.franke@daimler.com;Environment Perception, Stuttgart, Germany
Venue:
SSIAI '08 Proceedings of the 2008 IEEE Southwest Symposium on Image Analysis and Interpretation
Year:
2008

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Abstract

This paper presents a method for the computation of free space in complex traffic scenarios. Dynamic depth information is estimated by integrating stereo disparity images over time. Disparity and disparity speed are computed pixel-wise with Kalman filters. The stereo information is used to compute stochastic occupancy grids. Dynamic programming on a polar-like occupancy grid yields the free space. An analysis of the calculated free space allows the detection of the available free corridor in front of the "ego-vehicle". The method runs at a frame rate of 20 Hz in our demonstrator vehicle.