Simultaneous localization and object detection using an a-contrario approach

Authors:
S. Le Hégarat-Mascle;A. Robin;R. Reynaud
Affiliations:
University Paris-South, Orsay Cedex, France;University of the Witwatersrand, Wits, Johannesburg, South Africa;University Paris-South, Orsay Cedex, France
Venue:
Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing
Year:
2010

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Abstract

In the context of automotive driver assistance, we focus on the problem of simultaneous localization and object detection considering a video sequence acquired by an on-board camera. This paper presents an original approach permitting localization and object detection by using coarse resolution images. It is based on an a-contrario model previously introduced for land cover monitoring using remote sensing data. Applied to the problem of detecting scene changes from the acquisition of a video sequence from an on-board camera, we show that such an approach permits to detect appearing objects even when the illumination and the geometry of the scene vary, and this in a much more robust way than keeping full resolution data. Results obtained in the context of real data acquired using a frontal camera onboard a car illustrate these statements.