A Stereo Matching Algorithm with an Adaptive Window: Theory and Experiment
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Fast Obstacle Detection Method based on Optical Flow
ECCV '92 Proceedings of the Second European Conference on Computer Vision
A Stereo Machine for Video-Rate Dense Depth Mapping and Its New Applications
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Fast obstacle detection for urban traffic situations
IEEE Transactions on Intelligent Transportation Systems
Depth-based target segmentation for intelligent vehicles: fusion of radar and binocular stereo
IEEE Transactions on Intelligent Transportation Systems
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
IEEE Transactions on Image Processing
Human detection using a mobile platform and novel features derived from a visual saliency mechanism
Image and Vision Computing
Depth assisted occlusion handling in video object tracking
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part I
Obstacle-Free Pathway Detection by Means of Depth Maps
Journal of Intelligent and Robotic Systems
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Multi-view head detection and tracking with long range capability for social navigation planning
ISVC'11 Proceedings of the 7th international conference on Advances in visual computing - Volume Part II
Transfer learning for pedestrian detection
Neurocomputing
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Obstacle detection and classification in a complex urban area are highly demanding, but desirable for pedestrian protection, stop & go, and enhanced parking aids. The most difficult task for the system is to segment objects from varied and complicated background. In this paper, a novel position-based object segmentation method has been proposed to solve this problem. According to the method proposed, object segmentation is performed in two steps: in depth map (X-Z plane) and in layered images (X-Y planes). The stereovision technique is used to reconstruct image points and generate the depth map. Objects are detected in the depth map. Afterwards, the original edge image is separated into different layers based on the distance of detected objects. Segmentation performed in these layered images can be easier and more reliable. It has been proved that the proposed method offers robust detection of potential obstacles and accurate measurement of their location and size.