Paper Info
Title
Robust and Fast Stereovision Based Road Obstacles Detection for Driving Safety Assistance
Abstract
false matches. Lastly, section 6 presents the results of experiments about the longitudinal control of a low This paper deals with a first evaluation of the effi- speed automated vehicle (based on a second order slid- ciency and the robustness of the real-time "v-disparity" ing mode control) using the "v-disparity" algorithm for algorithm in stereovision (I) for generic road obstacles obstacles detection and distance computation. detection towards various types of obstacles (vehicle, pedestrian, motorbike, cyclist, boxes) and under ad- 2 ~~~~~i~~~t.1 protocol verse conditions (rain, glowing effect, noise and false matches in the disparity map)l. 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 pro- cess for Driving Safety Assistance : conductor warning and longitudinal control of a low speed automated ve- hicle (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'nlGo, Stop on Obstacle (pedestrian, fallen motorbike, load dropping obstacle) - are presented.
Year
Venue
Keywords
2002
MVA
second order,sliding mode control,real time
Field
DocType
Citations 
Effi,Driving safety,Computer vision,Obstacle,Pedestrian,Robustness (computer science),Frame rate,Artificial intelligence,Mathematics,Sliding mode control,Computation
Conference
10
PageRank 
References 
Authors
2.22
1
2
Name
Order
Citations
PageRank
Raphaël Labayrade110813.76
Didier Aubert236135.97