Paper Info
Title
Obstacle detection using U-disparity on quadratic road surfaces
Abstract
This paper addresses the problem of detecting obstacles that protruding from the road. Traditionally, the road surface has been considered flat, and camera orientation is fixed. However, both assumptions are not strictly true in urban scenarios. The proposed algorithm employs a time-of-flight (ToF) camera. It allows dynamic pitch/roll angles, height variations and represents the ground as a quadratic surface. The range information given by the camera is represented in both Euclidean and disparity domains, so that their domain characteristics support each other to achieve accurate and efficient detection results. Gradient filtering of the disparity image presents Euclidean planner patches, with which outliers can be minimised during road fittings. Obstacle points are subsequently detected by the connect component labelling algorithm. Experimental results show that the proposed method can effectively segment and detect multiple obstacles and presents their bounding boxes in complex scenarios.
Year
DOI
Venue
2013
10.1109/ITSC.2013.6728419
ITSC
Keywords
Field
DocType
image segmentation,object detection,road traffic,traffic engineering computing,euclidean domain,euclidean planner patches,tof camera,u-disparity,bounding boxes,camera orientation,connect component labelling algorithm,disparity domain,disparity image,gradient filtering,height variations,obstacle detection,pitch-roll angles,quadratic road surfaces,range information,road fittings,time-of-flight camera,algorithms
Object detection,Obstacle,Computer vision,Simulation,Quadratic equation,Filter (signal processing),Image segmentation,Road surface,Artificial intelligence,Euclidean geometry,Engineering,Bounding overwatch
Conference
ISSN
Citations 
PageRank 
2153-0009
4
0.54
References 
Authors
7
4
Name
Order
Citations
PageRank
Xiao Ai1565.07
Y. Gao2175.51
Rarity, J.G.341.55
Naim Dahnoun413015.23