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Authors: Zoltan Rozsa 1 ; 2 ; Marcell Golarits 2 and Tamas Sziranyi 1 ; 2

Affiliations: 1 Faculty of Transportation Engineering and Vehicle Engineering, Budapest University of Technology and Economics (BME-KJK), H-1111 Budapest, Műegyetem rkp. 3, Hungary ; 2 Machine Perception Research Laboratory of Institute for Computer Science and Control (SZTAKI), Eötvös Loránd Research Network (ELKH), H-1111 Budapest, Kende u. 13-17, Hungary

Keyword(s): Intelligent Vehicles, Machine Vision, Point Cloud Processing, Plane Fitting, Segmentation, Multi-media Photogrammetry.

Abstract: This paper proposes a method to provide depth information about water hazards for ground vehicles. We can estimate underwater depth even with a moving mono camera. Besides the physical principles of refraction, the method is based on the theory of multiple-view geometry and basic point cloud processing techniques. We use the information gathered from the surroundings of the hazard to simplify underwater shape estimation. We detect water hazards, estimate its surface and calculate real depth of underwater shape based on matched points using refraction principle. Our pipeline was tested on real-life experiments, on-board cameras and a detailed evaluation of the measurements is presented in the paper.

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Paper citation in several formats:
Rozsa, Z.; Golarits, M. and Sziranyi, T. (2021). Water Hazard Depth Estimation for Safe Navigation of Intelligent Vehicles. In Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-513-5; ISSN 2184-495X, SciTePress, pages 90-99. DOI: 10.5220/0010438100900099

@conference{vehits21,
author={Zoltan Rozsa. and Marcell Golarits. and Tamas Sziranyi.},
title={Water Hazard Depth Estimation for Safe Navigation of Intelligent Vehicles},
booktitle={Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS},
year={2021},
pages={90-99},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010438100900099},
isbn={978-989-758-513-5},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Water Hazard Depth Estimation for Safe Navigation of Intelligent Vehicles
SN - 978-989-758-513-5
IS - 2184-495X
AU - Rozsa, Z.
AU - Golarits, M.
AU - Sziranyi, T.
PY - 2021
SP - 90
EP - 99
DO - 10.5220/0010438100900099
PB - SciTePress

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