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Stereo vision-based obstacle detection using dense disparity map

Title
Stereo vision-based obstacle detection using dense disparity map
Authors
Lee, Chung-HeeLim, Young-ChulKwon, SoonKim, Jonghwan
DGIST Authors
Lee, Chung-HeeLim, Young-ChulKwon, Soon
Issue Date
2011-10-01
Citation
International Conference on Graphic and Image Processing, ICGIP 2011
Type
Conference
ISSN
0277-786X
Abstract
In this paper, we propose stereo vision-based obstacle detection method on the road using a dense disparity map. We use the dense disparity map to detect obstacles robustly in real traffic situations. Our method consists of three stages, namely road feature extraction, column detection, obstacle segmentation. First, we extract a road feature from a v- disparity map calculated from a dense disparity map. And we perform a column detection using the extracted road feature as a criterion that decides whether obstacles exist or not. Finally, we perform a segmentation using a bird's-eye view mapping to divide the merged obstacle into each obstacle accurately. We conduct experiments to verify our method in the real traffic situations. © 2011 Copyright Society of Photo-Optical Instrumentation Engineers (SPIE).
URI
http://hdl.handle.net/20.500.11750/3911
DOI
10.1117/12.914442
Publisher
SPIE
Related Researcher
Files:
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Collection:
Intelligent Devices and Systems Research Group2. Conference Papers
Convergence Research Center for Future Automotive Technology2. Conference Papers


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