NDLI: Real-time visual perception : detection and localisation of static and moving objects from a moving stereo rig

Content Provider	IEEE Xplore Digital Library
Author	Lefaudeux, B. Nashashibi, F.
Copyright Year	2012
Description	Author affiliation: IMARA - INRIA Rocquencourt, CAOR - Mines Paristech, France (Nashashibi, F.) \|\| IMARA - INRIA Rocquencourt, France (Lefaudeux, B.)
Abstract	Perception of the surrounding environment is one of the many tasks an automated vehicle has to achieve in complex and ever-changing surroundings. This typically includes several distinct sub-tasks, such as map-building, localisation, static obstacles detection, pedestrian detection,… Some of these tasks are nowadays very well known, such as map-building, whereas the perception, localisation and classification of moving objects from a moving vehicle are in many aspects a work in progress. In this paper, we propose a vision-based approach built on the extensive tracking of numerous visual features over time from a stereo-vision pair. Through on-the-fly environment 3D reconstruction, based on visual clues, we propose an integrated method to detect and localise static and moving obstacles, whose position, orientation and speed vector is estimated. Our implementation runs at the moment in a slow real-time (9fps), and should in the future be enclosed in a more complete, probabilistic pipeline.
Starting Page	522
Ending Page	527
File Size	1692612
Page Count	6
File Format	PDF
ISBN	9781467330640
ISSN	21530009
e-ISBN	9781467330633
e-ISBN	9781467330626
DOI	10.1109/ITSC.2012.6338872
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-16
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Estimation Vehicles Noise Standards Tracking loops Robustness
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in