Obstacle Detection Using Projective Invariant and Vanishing Lines
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
A Complete U-V-Disparity Study for Stereovision Based 3D Driving Environment Analysis
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Stereo Vision-based approaches for Pedestrian Detection
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
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This paper address the perception of the driving environment of an Autonomous Guided Vehicle from a vision system. The trajectory planning for an Autonomous Guided Vehicle requires to robustly segment the free space around the vehicle to manage an obstacle avoidance task. The urban environment still remains as the most complex environment due to the variety of dynamic elements which animate the scenes. The feature-based approach we detail in this article consists first on the segmentation of the ground surface to reconstruct finally a 2D polar map of the obstacles edges.