Extraction of Road Region Using Stereo Images
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 1 - Volume 1
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
SMBV '01 Proceedings of the IEEE Workshop on Stereo and Multi-Baseline Vision (SMBV'01)
A high-performance stereo vision system for obstacle detection
A high-performance stereo vision system for obstacle detection
Multi-objects association in perception of dynamical situation
UAI'99 Proceedings of the Fifteenth conference on Uncertainty in artificial intelligence
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
IEEE Transactions on Image Processing
Driver Assistance System Based on Monocular Vision
IEA/AIE '08 Proceedings of the 21st international conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems: New Frontiers in Applied Artificial Intelligence
Robust obstacle detection based on dense disparity maps
EUROCAST'07 Proceedings of the 11th international conference on Computer aided systems theory
Laser Scanner-based End-effector Tracking and Joint Variable Extraction for Heavy Machinery
International Journal of Robotics Research
Stereovision-based obstacle avoidance procedure for autonomous mobile platforms
HAIS'11 Proceedings of the 6th international conference on Hybrid artificial intelligent systems - Volume Part I
A visual blindspot monitoring system for safe lane changes
ICIAP'11 Proceedings of the 16th international conference on Image analysis and processing - Volume Part II
Moving object detection with laser scanners
Journal of Field Robotics
Disparity map based procedure for collision-free guidance through unknown environments
ICCVG'12 Proceedings of the 2012 international conference on Computer Vision and Graphics
Fusion of 3D-LIDAR and camera data for scene parsing
Journal of Visual Communication and Image Representation
Multi-modal object detection and localization for high integrity driving assistance
Machine Vision and Applications
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We propose a new cooperative fusion approach between stereovision and laser scanner in order to take advantage of the best features and cope with the drawbacks of these two sensors to perform robust, accurate and real time-detection of multi-obstacles in the automotive context. The proposed system is able to estimate the position and the height, width and depth of generic obstacles at video frame rate (25 frames per second). The vehicle pitch, estimated by stereovision, is used to filter laser scanner raw data. Objects out of the road are removed using road lane information computed by stereovision. Various fusion schemes are proposed and one is experimented. Results of experiments in real driving situations (multi-pedestrians and multi-vehicles detection) are presented and stress the benefits of our approach.