NDLI: Obstacle location estimation using planar projection stereopsis method

Content Provider	IEEE Xplore Digital Library
Author	Onoguchi, K. Takeda, N. Watanabe, M.
Copyright Year	1997
Description	Author affiliation: Kansai Res. Labs., Toshiba Corp., Kobe, Japan (Onoguchi, K.)
Abstract	This paper presents a new method for estimating locations of moving obstacles from stereo images without tracking between image frames and without searching corresponding points between stereo images. First, a free-space map in front of a vehicle is created by the planar projection stereopsis method which can easily decide whether or not each point in a stereo image exists on a ground plane. Next, the moving obstacles detected in an image by using the residual error calculated in the process of focus of expansion estimation are projected to the free-space map. In the free space map, obstacle locations are estimated as the intersection between the projected obstacle areas and the contour of a free-space area. Experimental results for real road scenes with pedestrian, bicycle or automobile as moving obstacles show the effectiveness of the proposed method.
Starting Page	2553
Ending Page	2558
File Size	899111
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.619345
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Optical noise Bicycles Shape Focusing Layout Road vehicles Data mining High speed optical techniques Optical sensors Image motion analysis
Content Type	Text
Resource Type	Article

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