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On-road obstacle detection and tracking system using robust global stereo vision method

Title
On-road obstacle detection and tracking system using robust global stereo vision method
Authors
Kwon, SoonLee, Jong-HunNa, In-taeJung, Hong
DGIST Authors
Kwon, SoonLee, Jong-Hun
Issue Date
2010
Citation
Signal and Data Processing of Small Targets 2010, 7698
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
ISSN
0277-786X
Abstract
In this paper, we present a visual obstacle detection and tracking system based on a dense stereo vision method. We combine a global stereo matcher with a correlation based cost function for generating a reliable disparity-map. An NCC algorithm is robust to illumination variation, and a BP based global disparity computation algorithm is efficient for recovering the disparity information of a large textureless area in real driving scenes. Then an obstacle detector and a tracker module are implemented and tested under actual driving conditions. Using U-V disparity representation, a road profile is efficiently extracted, and obstacle ROI can be detected. In the process of obstacle detection, a few heuristic constraints are applied to exclude wrong candidates, and a further verification step is proceeded by a tracker. Implemented system offers accurate and reliable range images under various noisy imaging conditions, which results in robust detection and tracking performance. © 2010 Copyright SPIE - The International Society for Optical Engineering.
URI
http://hdl.handle.net/20.500.11750/3945
DOI
10.1117/12.852755
Publisher
SPIE
Related Researcher
Files:
There are no files associated with this item.
Collection:
ETC2. Conference Papers
Division of IoT∙Robotics Convergence Research2. Conference Papers


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