Vision based Real-time Modeling of Dynamic Unstructured Environments in Driving Scenarios

Andrei Vatavu, Sergiu Nedevschi


The detection of moving traffic participants is an essential intermediate step for higher level driving technology tasks. Regardless of the type of used sensors, dynamic environment modeling becomes even more difficult when the surrounding world is unstructured and heterogeneous. In such complex environments the representation system can be affected by noisy measurements, occlusions, wrong data association or unpredictable nature of the traffic participants. We propose a solution of representing the dynamic environment in real-time by using the pairwise alignment of free-form models and considering the advantages provided by a dense stereovision system. Instead of registering the whole 3D point cloud, our method is based on extracting and registering a more compact model of the environment taking into consideration the most visible object cells from the ego car. The proposed method is based on information provided by a Digital Elevation-Map, but can be easily adapted for other types of intermediate representations.


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Paper Citation

in Harvard Style

Vatavu A. and Nedevschi S. (2012). Vision based Real-time Modeling of Dynamic Unstructured Environments in Driving Scenarios . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 141-149. DOI: 10.5220/0004045401410149

in Bibtex Style

author={Andrei Vatavu and Sergiu Nedevschi},
title={Vision based Real-time Modeling of Dynamic Unstructured Environments in Driving Scenarios},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

in EndNote Style

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Vision based Real-time Modeling of Dynamic Unstructured Environments in Driving Scenarios
SN - 978-989-8565-22-8
AU - Vatavu A.
AU - Nedevschi S.
PY - 2012
SP - 141
EP - 149
DO - 10.5220/0004045401410149