Saliency-Based Obstacle Detection and Ground-Plane Estimation for Off-Road Vehicles

Authors:
Pedro Santana;Magno Guedes;Luís Correia;José Barata
Affiliations:
LabMAg, Computer Science Department, University of Lisbon, Portugal;UNINOVA, New University of Lisbon, Portugal;LabMAg, Computer Science Department, University of Lisbon, Portugal;UNINOVA, New University of Lisbon, Portugal
Venue:
ICVS '09 Proceedings of the 7th International Conference on Computer Vision Systems: Computer Vision Systems
Year:
2009

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Abstract

Due to stringing time constraints, saliency models are becoming popular tools for building situated robotic systems requiring, for instance, object recognition and vision-based localisation capabilities. This paper contributes to this endeavour by applying saliency into two new tasks: modulation of stereo-based obstacle detection and ground-plane estimation, both to operate on-board off-road vehicles. To achieve this, a new biologically inspired saliency model, along with a set of adaptations to the task-specific algorithms, are proposed. Experimental results show a reduction in computational cost and an increase in both robustness and accuracy when saliency modulation is used.