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Authors: Jorge Beltrán ; Carlos Jaraquemada ; Basam Musleh ; Arturo De La Escalera and Jose María Armingol

Affiliation: University Carlos III of Madrid (UC3M), Spain

ISBN: 978-989-758-226-4

Keyword(s): Dense Labelling, Semantic Labelling, Stereo Vision, Off-road Navigation, ROS.

Related Ontology Subjects/Areas/Topics: Applications ; Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Robotics ; Software Engineering ; Stereo Vision and Structure from Motion

Abstract: Interest on autonomous vehicles has rapidly increased in the last few years, due to recent advances in the field and the appearance of semi-autonomous solutions in the market. In order to reach fully autonomous navigation, a precise understanding of the vehicle surroundings is required. This paper presents a novel ROS-based architecture for stereo-vision-based semantic scene labelling. The objective is to provide the necessary information to a path planner in order to perform autonomous navigation around the university campus. The output of the algorithm contains the classification of the obstacles in the scene into four different categories: traversable areas, garden, static obstacles, and pedestrians. Validation of the labelling method is accomplished by means of a hand-labelled ground truth, generated from a stereo sequence captured in the university campus. The experimental results show the high performance of the proposed approach.

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Paper citation in several formats:
Beltrán, J.; Jaraquemada, C.; Musleh, B.; De La Escalera, A. and Armingol, J. (2017). Dense Semantic Stereo Labelling Architecture for In-Campus Navigation.In Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP, (VISIGRAPP 2017) ISBN 978-989-758-226-4, pages 266-273. DOI: 10.5220/0006131602660273

@conference{visapp17,
author={Jorge Beltrán. and Carlos Jaraquemada. and Basam Musleh. and Arturo De La Escalera. and Jose María Armingol.},
title={Dense Semantic Stereo Labelling Architecture for In-Campus Navigation},
booktitle={Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP, (VISIGRAPP 2017)},
year={2017},
pages={266-273},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006131602660273},
isbn={978-989-758-226-4},
}

TY - CONF

JO - Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5: VISAPP, (VISIGRAPP 2017)
TI - Dense Semantic Stereo Labelling Architecture for In-Campus Navigation
SN - 978-989-758-226-4
AU - Beltrán, J.
AU - Jaraquemada, C.
AU - Musleh, B.
AU - De La Escalera, A.
AU - Armingol, J.
PY - 2017
SP - 266
EP - 273
DO - 10.5220/0006131602660273

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