NDLI: Fast obstacle detection using U-disparity maps with stereo vision

Content Provider	IEEE Xplore Digital Library
Author	Oniga, F. Sarkozi, E. Nedevschi, S.
Copyright Year	2015
Description	Author affiliation: Comput. Sci. Dept., Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania (Oniga, F.; Sarkozi, E.; Nedevschi, S.)
Abstract	This paper introduces a computationally efficient, approach for obstacle detection in driving assistance applications, based on stereovision. The proposed approach involves three different steps aiming an increased quality of the results. The first step relies on the basics: obstacles correspond to peak regions in the u-disparity map. By applying the model of the stereo system, the peaks are detected with an adaptive threshold. The adaptive thresholding will calculate the accumulation of points required for an obstacle based on its distance (disparity) and will be related to the characteristics of the stereovision system. The second and third steps consist of refining the result of the previous, vertically respectively horizontally. This is necessary in order to fill out unmarked pixel regions which are classified as belonging to obstacles. The second step iterates vertically and propagates the obstacle label to neighbor pixels. The third step improves obstacle regions horizontally, with points that do not belong to the road. The solution is fast and reliable, on various scenarios, as every step is an improvement of the standard U-disparity approach for obstacle detection.
Starting Page	203
Ending Page	207
File Size	1023931
Page Count	5
File Format	PDF
e-ISBN	9781467382007
DOI	10.1109/ICCP.2015.7312630
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-09-03
Publisher Place	Romania
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	driving assistance Three-dimensional displays Adaptive systems Intelligent vehicles Roads Computational modeling obstacle detection stereovision Cameras Standards u-disparity
Content Type	Text
Resource Type	Article

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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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