Robust and Fast Stereovision Based Obstacles Detection for Driving Safety Assistance (ITS) (<Special Section>Machine Vision Applications)

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概要

• 論文の詳細を見る

• This paper deals with a first evaluation of the efficiency and the robustness of the real-time "v-disparity" algorithm in stereovision [1] for generic road obstacles detection towards various types of obstacles (vehicle, pedestrian, motorbike, cyclist, boxes) and under adverse conditions (day, night, rain, glowing effect, noise and false matches in the disparity map). The theoretical good properties of the "v-disparity" algorithm-accuracy, robustness, computational speed-are experimentally confirmed. The good results obtained allow us to use this stereo algorithm as the onboard perception process for Driving Safety Assistance: conductor warning and longitudinal control of a low speed automated vehicle (using a second order sliding mode control [2]) in difficult and original situations, at frame rate using no special hardware. Results of experiments-Vehicle following at low speed, Stop'n'Go, Stop on Obstacle (pedestrian, fallen motorbike, load dropping obstacle)-are presented.

• 一般社団法人電子情報通信学会の論文
• 2004-01-01

著者

• Aubert Didier

  Lcpc

• Labayrade Raphael

  Vehicle-infrastructure-driver Interactions Research Unit Livic-inrets

• Aubert Didier

  Vehicle-infrastructure-driver Interactions Research Unit Livic-inrets/lcpc

関連論文

• A Reliable and Robust Lane Detection System Based on the Parallel Use of Three Algorithms for Driving Safety Assistance(Intelligent Transport Systems,Machine Vision Applications)
• Robust and Fast Stereovision Based Obstacles Detection for Driving Safety Assistance (ITS) (Machine Vision Applications)

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