Multipass hierarchical stereo matching for generation of digital terrain models form aerial images
Machine Vision and Applications
Computer Vision
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Obstacle Detection with Stereo Vision for Off-Road Vehicle Navigation
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
An Optimized Software-Based Implementation of a Census-Based Stereo Matching Algorithm
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
A fast stereo matching algorithm suitable for embedded real-time systems
Computer Vision and Image Understanding
Track detection for autonomous trains
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part III
Accurate road following and reconstruction by computer vision
IEEE Transactions on Intelligent Transportation Systems
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In this paper we present a 3D-vision based obstacle detection system for an autonomously operating train in open terrain environments. The system produces dense depth data in real-time from a stereo camera system with a baseline of 1.4m to fulfill accuracy requirements for reliable obstacle detection 80m ahead. On an existing high speed stereo engine, several modifications have been applied to significantly improve the overall performance of the system. Hierarchical stereo matching and slanted correlation masks increased the quality of the depth data in a way that the obstacle detection rate increased from 89.4% to 97.75% while the false positive detection rate could be kept as low as 0.25%. The evaluation results have been obtained from extensive real-world test data. An additional stereo matching speed-up of factor 2.15 was achieved and the overall latency of obstacle detection is considerably faster than 300ms.