Obstacle location estimation using planar projection stereopsis method
Identifieur interne : 001B16 ( Main/Exploration ); précédent : 001B15; suivant : 001B17Obstacle location estimation using planar projection stereopsis method
Auteurs : Kazunori Onoguchi [Japon] ; Nobuyuki Takeda [Japon] ; Mutsumi Watanabe [Japon]Source :
- 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
Affiliations:
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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><affiliations><list><country><li>Japon</li></country></list><tree><country name="Japon"><noRegion><name sortKey="Onoguchi, Kazunori" sort="Onoguchi, Kazunori" uniqKey="Onoguchi K" first="Kazunori" last="Onoguchi">Kazunori Onoguchi</name></noRegion><name sortKey="Takeda, Nobuyuki" sort="Takeda, Nobuyuki" uniqKey="Takeda N" first="Nobuyuki" last="Takeda">Nobuyuki Takeda</name><name sortKey="Watanabe, Mutsumi" sort="Watanabe, Mutsumi" uniqKey="Watanabe M" first="Mutsumi" last="Watanabe">Mutsumi Watanabe</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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