NDLI: Stereo Vision for Dynamic Urban Environment Perception Using Semantic Context in Evidential Grid

Content Provider	IEEE Xplore Digital Library
Author	Vitor, G.B. Correa Victorino, A. Vaqueiro Ferreira, J.
Copyright Year	2015
Description	Author affiliation: Lab. Heudiasyc, Univ. de Technol. de Compiegne, Compiegne, France (Vitor, G.B.; Correa Victorino, A.) \|\| Dept. of Comput. Mech., Univ. of Campinas, Campinas, Brazil (Vaqueiro Ferreira, J.)
Abstract	Uncertainty from urban environment arises not only by the imprecise pose estimation and noisy information in images but also by the lack of semantic information. This paper presents an approach to improve the perception capability of intelligent vehicles in complex urban environments. The method uses the meta-knowledge acquired from a built Semantic Context image and applies it on evidential grids constructed from the Stereo Vision. In the detection of semantic information problem, Texton and Dispton maps are used as a source to model a probabilistic joint boosting classifier. The evidential grids are based on occupancy grids, an approach based on the Dempster-Shafer theory that manages different sources of uncertainty arising in dynamic temporal scenes. An additional structure is created to handle a refined set of propositions originated from the meta-knowledge available. This structure bound with evidential conflict analysis enables an accurate detection of stationary and mobile objects in the perception grid. The proposed work reports real experiments carried out in a challenging urban environment using the KITTI benchmark in which meaningful evaluation can be done to illustrate the validity and application of this approach.
Starting Page	2471
Ending Page	2476
File Size	711074
Page Count	6
File Format	PDF
ISSN	21530017
e-ISBN	9781467365963
DOI	10.1109/ITSC.2015.398
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Semantics Context Mobile communication Three-dimensional displays Mathematical model Vehicles Cameras
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
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