Segmentation and free space detection using Gabor filters

Authors:
Tadayoshi Shioyama;Haiyuan Wu;Masaya Takebe;Naoya Shimaoka
Affiliations:
Department of Mechanical and System Engineering, Kyoto Institute of Technology, Kyoto, Japan;Department of Computer and Commucation Sciences, Wakayama University;Department of Mechanical and System Engineering, Kyoto Institute of Technology, Kyoto, Japan;Department of Mechanical and System Engineering, Kyoto Institute of Technology, Kyoto, Japan
Venue:
SCIA'03 Proceedings of the 13th Scandinavian conference on Image analysis
Year:
2003

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Abstract

This paper proposes a new segmentation method and applies it for detecting free space, which is defined as a free road area without any obstacle. The problem is important for an intelligent transportation control or collision avoidance in vehicles, and also important for assisting the blind pedestrian. In this paper, the texture analysis is carried out using Gabor filters. Input images are segmented with not only the outputs of Gabor filters, but also both edge and color information. A free space is extracted from the segmented image. Then, the three-dimensional (3-D) information such as a free path at arbitrary direction from the observer is computed by stereo method. In order to evaluate the effectiveness of this proposed method, experimental results are shown for real images consisting of outdoor and indoor scenes.