Obstacle location estimation using planar projection stereopsis method
Identifieur interne : 002E31 ( Istex/Corpus ); précédent : 002E30; suivant : 002E32Obstacle location estimation using planar projection stereopsis method
Auteurs : Kazunori Onoguchi ; Nobuyuki Takeda ; Mutsumi WatanabeSource :
- Systems and Computers in Japan [ 0882-1666 ] ; 2001-12.
English descriptors
Abstract
This paper presents a method in which moving obstacles such as pedestrians, bicycles, and automobiles are detected from a moving vehicle using images, and the locations of the obstacles are calculated stably in relation to the vehicle. In the proposed method, stereoptic images are projected on the estimated road plane, and a free‐space map is constructed without attempting matching between the stereoptic images. Then, the vanishing point of the motion (FOE) is estimated from the optical flow, and the moving obstacle area is extracted from the image based on the residual error. By projecting the moving obstacle area onto the free‐space map, the location of the moving obstacle relative to the moving vehicle is determined. In this method, neither tracking between frames nor matching search between stereoptic images is needed, and the location can be determined stably, even for objects with rapidly varying size in the image, or nonrigid objects with continuously changing shape. An experiment was performed in which the locations of moving obstacles such as pedestrians, bicycles, and automobiles were determined from the input image sequence obtained from a camera on a moving vehicle. The effectiveness of the proposed method was demonstrated. © 2001 Scripta Technica, Syst Comp Jpn, 32(14): 67–76, 2001
Url:
DOI: 10.1002/scj.1093
Links to Exploration step
ISTEX:61341E70CD2408C66880E209B30817259C218074Le document en format XML
<record><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">Obstacle location estimation using planar projection stereopsis method</title><author><name sortKey="Onoguchi, Kazunori" sort="Onoguchi, Kazunori" uniqKey="Onoguchi K" first="Kazunori" last="Onoguchi">Kazunori Onoguchi</name><affiliation><mods:affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</mods:affiliation></affiliation></author><author><name sortKey="Takeda, Nobuyuki" sort="Takeda, Nobuyuki" uniqKey="Takeda N" first="Nobuyuki" last="Takeda">Nobuyuki Takeda</name><affiliation><mods:affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</mods:affiliation></affiliation></author><author><name sortKey="Watanabe, Mutsumi" sort="Watanabe, Mutsumi" uniqKey="Watanabe M" first="Mutsumi" last="Watanabe">Mutsumi Watanabe</name><affiliation><mods:affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</mods:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:61341E70CD2408C66880E209B30817259C218074</idno><date when="2001" year="2001">2001</date><idno type="doi">10.1002/scj.1093</idno><idno type="url">https://api.istex.fr/document/61341E70CD2408C66880E209B30817259C218074/fulltext/pdf</idno><idno type="wicri:Area/Istex/Corpus">002E31</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">Obstacle location estimation using planar projection stereopsis method</title><author><name sortKey="Onoguchi, Kazunori" sort="Onoguchi, Kazunori" uniqKey="Onoguchi K" first="Kazunori" last="Onoguchi">Kazunori Onoguchi</name><affiliation><mods:affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</mods:affiliation></affiliation></author><author><name sortKey="Takeda, Nobuyuki" sort="Takeda, Nobuyuki" uniqKey="Takeda N" first="Nobuyuki" last="Takeda">Nobuyuki Takeda</name><affiliation><mods:affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</mods:affiliation></affiliation></author><author><name sortKey="Watanabe, Mutsumi" sort="Watanabe, Mutsumi" uniqKey="Watanabe M" first="Mutsumi" last="Watanabe">Mutsumi Watanabe</name><affiliation><mods:affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</mods:affiliation></affiliation></author></analytic><monogr></monogr><series><title level="j">Systems and Computers in Japan</title><title level="j" type="abbrev">Syst. Comp. Jpn.</title><idno type="ISSN">0882-1666</idno><idno type="eISSN">1520-684X</idno><imprint><publisher>John Wiley & Sons, Inc.</publisher><pubPlace>New York</pubPlace><date type="published" when="2001-12">2001-12</date><biblScope unit="volume">32</biblScope><biblScope unit="issue">14</biblScope><biblScope unit="page" from="67">67</biblScope><biblScope unit="page" to="76">76</biblScope></imprint><idno type="ISSN">0882-1666</idno></series><idno type="istex">61341E70CD2408C66880E209B30817259C218074</idno><idno type="DOI">10.1002/scj.1093</idno><idno type="ArticleID">SCJ1093</idno></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0882-1666</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>inverse projection</term><term>location estimation</term><term>moving obstacle</term><term>optical flow</term><term>stereopsis</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper presents a method in which moving obstacles such as pedestrians, bicycles, and automobiles are detected from a moving vehicle using images, and the locations of the obstacles are calculated stably in relation to the vehicle. In the proposed method, stereoptic images are projected on the estimated road plane, and a free‐space map is constructed without attempting matching between the stereoptic images. Then, the vanishing point of the motion (FOE) is estimated from the optical flow, and the moving obstacle area is extracted from the image based on the residual error. By projecting the moving obstacle area onto the free‐space map, the location of the moving obstacle relative to the moving vehicle is determined. In this method, neither tracking between frames nor matching search between stereoptic images is needed, and the location can be determined stably, even for objects with rapidly varying size in the image, or nonrigid objects with continuously changing shape. An experiment was performed in which the locations of moving obstacles such as pedestrians, bicycles, and automobiles were determined from the input image sequence obtained from a camera on a moving vehicle. The effectiveness of the proposed method was demonstrated. © 2001 Scripta Technica, Syst Comp Jpn, 32(14): 67–76, 2001</div></front></TEI><istex><corpusName>wiley</corpusName><author><json:item><name>Kazunori Onoguchi</name><affiliations><json:string>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</json:string></affiliations></json:item><json:item><name>Nobuyuki Takeda</name><affiliations><json:string>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</json:string></affiliations></json:item><json:item><name>Mutsumi Watanabe</name><affiliations><json:string>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</json:string></affiliations></json:item></author><subject><json:item><lang><json:string>eng</json:string></lang><value>location estimation</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>stereopsis</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>optical flow</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>inverse projection</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>moving obstacle</value></json:item></subject><articleId><json:string>SCJ1093</json:string></articleId><language><json:string>eng</json:string></language><abstract>This paper presents a method in which moving obstacles such as pedestrians, bicycles, and automobiles are detected from a moving vehicle using images, and the locations of the obstacles are calculated stably in relation to the vehicle. In the proposed method, stereoptic images are projected on the estimated road plane, and a free‐space map is constructed without attempting matching between the stereoptic images. Then, the vanishing point of the motion (FOE) is estimated from the optical flow, and the moving obstacle area is extracted from the image based on the residual error. By projecting the moving obstacle area onto the free‐space map, the location of the moving obstacle relative to the moving vehicle is determined. In this method, neither tracking between frames nor matching search between stereoptic images is needed, and the location can be determined stably, even for objects with rapidly varying size in the image, or nonrigid objects with continuously changing shape. An experiment was performed in which the locations of moving obstacles such as pedestrians, bicycles, and automobiles were determined from the input image sequence obtained from a camera on a moving vehicle. The effectiveness of the proposed method was demonstrated. © 2001 Scripta Technica, Syst Comp Jpn, 32(14): 67–76, 2001</abstract><qualityIndicators><score>7.078</score><pdfVersion>1.2</pdfVersion><pdfPageSize>612 x 792 pts (letter)</pdfPageSize><refBibsNative>true</refBibsNative><keywordCount>5</keywordCount><abstractCharCount>1315</abstractCharCount><pdfWordCount>4630</pdfWordCount><pdfCharCount>25378</pdfCharCount><pdfPageCount>10</pdfPageCount><abstractWordCount>204</abstractWordCount></qualityIndicators><title>Obstacle location estimation using planar projection stereopsis method</title><genre.original><json:string>article</json:string></genre.original><genre><json:string>article</json:string></genre><host><volume>32</volume><publisherId><json:string>SCJ</json:string></publisherId><pages><total>10</total><last>76</last><first>67</first></pages><issn><json:string>0882-1666</json:string></issn><issue>14</issue><genre><json:string>journal</json:string></genre><language><json:string>unknown</json:string></language><eissn><json:string>1520-684X</json:string></eissn><title>Systems and Computers in Japan</title><doi><json:string>10.1002/(ISSN)1520-684X</json:string></doi></host><publicationDate>2001</publicationDate><copyrightDate>2001</copyrightDate><doi><json:string>10.1002/scj.1093</json:string></doi><id>61341E70CD2408C66880E209B30817259C218074</id><fulltext><json:item><original>true</original><mimetype>application/pdf</mimetype><extension>pdf</extension><uri>https://api.istex.fr/document/61341E70CD2408C66880E209B30817259C218074/fulltext/pdf</uri></json:item><json:item><original>false</original><mimetype>application/zip</mimetype><extension>zip</extension><uri>https://api.istex.fr/document/61341E70CD2408C66880E209B30817259C218074/fulltext/zip</uri></json:item><istex:fulltextTEI uri="https://api.istex.fr/document/61341E70CD2408C66880E209B30817259C218074/fulltext/tei"><teiHeader><fileDesc><titleStmt><title level="a" type="main" xml:lang="en">Obstacle location estimation using planar projection stereopsis method</title></titleStmt><publicationStmt><authority>ISTEX</authority><publisher>John Wiley & Sons, Inc.</publisher><pubPlace>New York</pubPlace><availability><p>WILEY</p></availability><date>2001</date></publicationStmt><sourceDesc><biblStruct type="inbook"><analytic><title level="a" type="main" xml:lang="en">Obstacle location estimation using planar projection stereopsis method</title><author><persName><forename type="first">Kazunori</forename><surname>Onoguchi</surname></persName><affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</affiliation></author><author><persName><forename type="first">Nobuyuki</forename><surname>Takeda</surname></persName><affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</affiliation></author><author><persName><forename type="first">Mutsumi</forename><surname>Watanabe</surname></persName><affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</affiliation></author></analytic><monogr><title level="j">Systems and Computers in Japan</title><title level="j" type="abbrev">Syst. Comp. Jpn.</title><idno type="pISSN">0882-1666</idno><idno type="eISSN">1520-684X</idno><idno type="DOI">10.1002/(ISSN)1520-684X</idno><imprint><publisher>John Wiley & Sons, Inc.</publisher><pubPlace>New York</pubPlace><date type="published" when="2001-12"></date><biblScope unit="volume">32</biblScope><biblScope unit="issue">14</biblScope><biblScope unit="page" from="67">67</biblScope><biblScope unit="page" to="76">76</biblScope></imprint></monogr><idno type="istex">61341E70CD2408C66880E209B30817259C218074</idno><idno type="DOI">10.1002/scj.1093</idno><idno type="ArticleID">SCJ1093</idno></biblStruct></sourceDesc></fileDesc><profileDesc><creation><date>2001</date></creation><langUsage><language ident="en">en</language></langUsage><abstract xml:lang="en"><p>This paper presents a method in which moving obstacles such as pedestrians, bicycles, and automobiles are detected from a moving vehicle using images, and the locations of the obstacles are calculated stably in relation to the vehicle. In the proposed method, stereoptic images are projected on the estimated road plane, and a free‐space map is constructed without attempting matching between the stereoptic images. Then, the vanishing point of the motion (FOE) is estimated from the optical flow, and the moving obstacle area is extracted from the image based on the residual error. By projecting the moving obstacle area onto the free‐space map, the location of the moving obstacle relative to the moving vehicle is determined. In this method, neither tracking between frames nor matching search between stereoptic images is needed, and the location can be determined stably, even for objects with rapidly varying size in the image, or nonrigid objects with continuously changing shape. An experiment was performed in which the locations of moving obstacles such as pedestrians, bicycles, and automobiles were determined from the input image sequence obtained from a camera on a moving vehicle. The effectiveness of the proposed method was demonstrated. © 2001 Scripta Technica, Syst Comp Jpn, 32(14): 67–76, 2001</p></abstract><textClass xml:lang="en"><keywords scheme="keyword"><list><head>keywords</head><item><term>location estimation</term></item><item><term>stereopsis</term></item><item><term>optical flow</term></item><item><term>inverse projection</term></item><item><term>moving obstacle</term></item></list></keywords></textClass></profileDesc><revisionDesc><change when="2001-12">Published</change></revisionDesc></teiHeader></istex:fulltextTEI><json:item><original>false</original><mimetype>text/plain</mimetype><extension>txt</extension><uri>https://api.istex.fr/document/61341E70CD2408C66880E209B30817259C218074/fulltext/txt</uri></json:item></fulltext><metadata><istex:metadataXml wicri:clean="Wiley, elements deleted: body"><istex:xmlDeclaration>version="1.0" encoding="UTF-8" standalone="yes"</istex:xmlDeclaration><istex:document><component version="2.0" type="serialArticle" xml:lang="en"><header><publicationMeta level="product"><publisherInfo><publisherName>John Wiley & Sons, Inc.</publisherName><publisherLoc>New York</publisherLoc></publisherInfo><doi registered="yes">10.1002/(ISSN)1520-684X</doi><issn type="print">0882-1666</issn><issn type="electronic">1520-684X</issn><idGroup><id type="product" value="SCJ"></id></idGroup><titleGroup><title type="main" xml:lang="en" sort="SYSTEMS AND COMPUTERS IN JAPAN">Systems and Computers in Japan</title><title type="short">Syst. Comp. Jpn.</title></titleGroup></publicationMeta><publicationMeta level="part" position="140"><doi origin="wiley" registered="yes">10.1002/scj.v32:14</doi><numberingGroup><numbering type="journalVolume" number="32">32</numbering><numbering type="journalIssue">14</numbering></numberingGroup><coverDate startDate="2001-12">December 2001</coverDate></publicationMeta><publicationMeta level="unit" type="article" position="7" status="forIssue"><doi origin="wiley" registered="yes">10.1002/scj.1093</doi><idGroup><id type="unit" value="SCJ1093"></id></idGroup><countGroup><count type="pageTotal" number="10"></count></countGroup><copyright ownership="thirdParty">Copyright © 2001 Scripta Technica</copyright><eventGroup><event type="firstOnline" date="2001-11-26"></event><event type="publishedOnlineFinalForm" date="2001-11-26"></event><event type="xmlConverted" agent="Converter:JWSART34_TO_WML3G version:2.3.2 mode:FullText source:HeaderRef result:HeaderRef" date="2010-03-04"></event><event type="xmlConverted" agent="Converter:WILEY_ML3G_TO_WILEY_ML3GV2 version:3.8.8" date="2014-02-08"></event><event type="xmlConverted" agent="Converter:WML3G_To_WML3G version:4.1.7 mode:FullText,remove_FC" date="2014-11-04"></event></eventGroup><numberingGroup><numbering type="pageFirst">67</numbering><numbering type="pageLast">76</numbering></numberingGroup><linkGroup><link type="toTypesetVersion" href="file:SCJ.SCJ1093.pdf"></link></linkGroup></publicationMeta><contentMeta><countGroup><count type="figureTotal" number="14"></count><count type="tableTotal" number="1"></count><count type="referenceTotal" number="12"></count><count type="wordTotal" number="5515"></count></countGroup><titleGroup><title type="main" xml:lang="en">Obstacle location estimation using planar projection stereopsis method</title></titleGroup><creators><creator xml:id="au1" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Kazunori</givenNames><familyName>Onoguchi</familyName></personName></creator><creator xml:id="au2" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Nobuyuki</givenNames><familyName>Takeda</familyName></personName></creator><creator xml:id="au3" creatorRole="author" affiliationRef="#af1"><personName><givenNames>Mutsumi</givenNames><familyName>Watanabe</familyName></personName></creator></creators><affiliationGroup><affiliation xml:id="af1" countryCode="JP" type="organization"><unparsedAffiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</unparsedAffiliation></affiliation></affiliationGroup><keywordGroup xml:lang="en" type="author"><keyword xml:id="kwd1">location estimation</keyword><keyword xml:id="kwd2">stereopsis</keyword><keyword xml:id="kwd3">optical flow</keyword><keyword xml:id="kwd4">inverse projection</keyword><keyword xml:id="kwd5">moving obstacle</keyword></keywordGroup><abstractGroup><abstract type="main" xml:lang="en"><title type="main">Abstract</title><p>This paper presents a method in which moving obstacles such as pedestrians, bicycles, and automobiles are detected from a moving vehicle using images, and the locations of the obstacles are calculated stably in relation to the vehicle. In the proposed method, stereoptic images are projected on the estimated road plane, and a free‐space map is constructed without attempting matching between the stereoptic images. Then, the vanishing point of the motion (FOE) is estimated from the optical flow, and the moving obstacle area is extracted from the image based on the residual error. By projecting the moving obstacle area onto the free‐space map, the location of the moving obstacle relative to the moving vehicle is determined. In this method, neither tracking between frames nor matching search between stereoptic images is needed, and the location can be determined stably, even for objects with rapidly varying size in the image, or nonrigid objects with continuously changing shape. An experiment was performed in which the locations of moving obstacles such as pedestrians, bicycles, and automobiles were determined from the input image sequence obtained from a camera on a moving vehicle. The effectiveness of the proposed method was demonstrated. © 2001 Scripta Technica, Syst Comp Jpn, 32(14): 67–76, 2001</p></abstract></abstractGroup></contentMeta></header></component></istex:document></istex:metadataXml><mods version="3.6"><titleInfo lang="en"><title>Obstacle location estimation using planar projection stereopsis method</title></titleInfo><titleInfo type="alternative" contentType="CDATA" lang="en"><title>Obstacle location estimation using planar projection stereopsis method</title></titleInfo><name type="personal"><namePart type="given">Kazunori</namePart><namePart type="family">Onoguchi</namePart><affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Nobuyuki</namePart><namePart type="family">Takeda</namePart><affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Mutsumi</namePart><namePart type="family">Watanabe</namePart><affiliation>Kansai Research Laboratories, Toshiba Corporation, Kobe, 658‐0015 Japan</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="article" displayLabel="article"></genre><originInfo><publisher>John Wiley & Sons, Inc.</publisher><place><placeTerm type="text">New York</placeTerm></place><dateIssued encoding="w3cdtf">2001-12</dateIssued><copyrightDate encoding="w3cdtf">2001</copyrightDate></originInfo><language><languageTerm type="code" authority="rfc3066">en</languageTerm><languageTerm type="code" authority="iso639-2b">eng</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType><extent unit="figures">14</extent><extent unit="tables">1</extent><extent unit="references">12</extent><extent unit="words">5515</extent></physicalDescription><abstract lang="en">This paper presents a method in which moving obstacles such as pedestrians, bicycles, and automobiles are detected from a moving vehicle using images, and the locations of the obstacles are calculated stably in relation to the vehicle. In the proposed method, stereoptic images are projected on the estimated road plane, and a free‐space map is constructed without attempting matching between the stereoptic images. Then, the vanishing point of the motion (FOE) is estimated from the optical flow, and the moving obstacle area is extracted from the image based on the residual error. By projecting the moving obstacle area onto the free‐space map, the location of the moving obstacle relative to the moving vehicle is determined. In this method, neither tracking between frames nor matching search between stereoptic images is needed, and the location can be determined stably, even for objects with rapidly varying size in the image, or nonrigid objects with continuously changing shape. An experiment was performed in which the locations of moving obstacles such as pedestrians, bicycles, and automobiles were determined from the input image sequence obtained from a camera on a moving vehicle. The effectiveness of the proposed method was demonstrated. © 2001 Scripta Technica, Syst Comp Jpn, 32(14): 67–76, 2001</abstract><subject lang="en"><genre>keywords</genre><topic>location estimation</topic><topic>stereopsis</topic><topic>optical flow</topic><topic>inverse projection</topic><topic>moving obstacle</topic></subject><relatedItem type="host"><titleInfo><title>Systems and Computers in Japan</title></titleInfo><titleInfo type="abbreviated"><title>Syst. Comp. Jpn.</title></titleInfo><genre type="journal">journal</genre><identifier type="ISSN">0882-1666</identifier><identifier type="eISSN">1520-684X</identifier><identifier type="DOI">10.1002/(ISSN)1520-684X</identifier><identifier type="PublisherID">SCJ</identifier><part><date>2001</date><detail type="volume"><caption>vol.</caption><number>32</number></detail><detail type="issue"><caption>no.</caption><number>14</number></detail><extent unit="pages"><start>67</start><end>76</end><total>10</total></extent></part></relatedItem><identifier type="istex">61341E70CD2408C66880E209B30817259C218074</identifier><identifier type="DOI">10.1002/scj.1093</identifier><identifier type="ArticleID">SCJ1093</identifier><accessCondition type="use and reproduction" contentType="copyright">Copyright © 2001 Scripta Technica</accessCondition><recordInfo><recordContentSource>WILEY</recordContentSource><recordOrigin>John Wiley & Sons, Inc.</recordOrigin></recordInfo></mods></metadata><serie></serie></istex></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/OcrV1/Data/Istex/Corpus
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 002E31 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Istex/Corpus/biblio.hfd -nk 002E31 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= OcrV1
|flux= Istex
|étape= Corpus
|type= RBID
|clé= ISTEX:61341E70CD2408C66880E209B30817259C218074
|texte= Obstacle location estimation using planar projection stereopsis method
}}
| This area was generated with Dilib version V0.6.32. |  |