loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Sergiu Nedevschi 1 ; Radu Danescu 1 ; Dan Frentiu 1 ; Tiberiu Marita 1 ; Florin Oniga 1 ; Ciprian Pocol 1 ; Rolf Schmidt 2 and Thorsten Graf 2

Affiliations: 1 T.U. of Cluj-Napoca, Romania ; 2 Volkswagen AG, Germany

ISBN: 972-8865-12-0

Keyword(s): Stereovision, non-flat road, road-obstacle separation, 3D points grouping, object detection, object tracking.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Robotics and Automation ; Vision, Recognition and Reconstruction

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.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.204.48.199

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Nedevschi S.; Danescu R.; Frentiu D.; Marita T.; Oniga F.; Pocol C.; Schmidt R.; Graf T. and (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

@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},
}

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

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.