STEREOVISION APPROACH FOR OBSTACLE DETECTION ON NON-PLANAR ROADS

Sergiu Nedevschi, Radu Danescu, Dan Frentiu, Tiberiu Marita, Florin Oniga, Ciprian Pocol, Rolf Schmidt, Thorsten Graf

Abstract

This paper presents a high accuracy stereovision system for obstacle detection and vehicle environment perception in various driving scenarios. The system detects obstacles of all types, even at high distance, outputting them as a list of cuboids having a position in 3D coordinates, size, speed and orientation. For increasing the robustness of the obstacle detection the non-planar road model is considered. The stereovision approach was considered to solve the road-obstacle separation problem. The vertical profile of the road is obtained by fitting a first order clothoid curve on the stereo detected 3D road surface points. The obtained vertical profile is used for a better road-obstacle separation process. By consequence the grouping of the 3D points above the road in relevant objects is enhanced, and the accuracy of their positioning in the driving environment is increased.

References

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Paper Citation


in Harvard Style

Nedevschi S., Danescu R., Frentiu D., Marita T., Oniga F., Pocol C., Schmidt R. and Graf T. (2004). STEREOVISION APPROACH FOR OBSTACLE DETECTION ON NON-PLANAR ROADS . In Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-12-0, pages 11-18. DOI: 10.5220/0001139300110018


in Bibtex Style

@conference{icinco04,
author={Sergiu Nedevschi and Radu Danescu and Dan Frentiu and Tiberiu Marita and Florin Oniga and Ciprian Pocol and Rolf Schmidt and Thorsten Graf},
title={STEREOVISION APPROACH FOR OBSTACLE DETECTION ON NON-PLANAR ROADS},
booktitle={Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2004},
pages={11-18},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001139300110018},
isbn={972-8865-12-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the First International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - STEREOVISION APPROACH FOR OBSTACLE DETECTION ON NON-PLANAR ROADS
SN - 972-8865-12-0
AU - Nedevschi S.
AU - Danescu R.
AU - Frentiu D.
AU - Marita T.
AU - Oniga F.
AU - Pocol C.
AU - Schmidt R.
AU - Graf T.
PY - 2004
SP - 11
EP - 18
DO - 10.5220/0001139300110018