DocumentCode :
1930035
Title :
Obstacle detection with 3D camera using U-V-Disparity
Author :
Gao, Yuan ; Ai, Xiao ; Rarity, John ; Dahnoun, Naim
Author_Institution :
Dept. of Electr. & Electron. Eng., Bristol Univ., Bristol, UK
fYear :
2011
fDate :
9-11 May 2011
Firstpage :
239
Lastpage :
242
Abstract :
Obstacle detection has been one of the most critical features for reliable driving scene analysis. This paper presents an approach for an automatic obstacle detection system. The proposed system makes use of depth information generated by a 3D camera mounted on the front of a moving vehicle. Obstacles projected as line features in the V-U-Disparity map can be extracted to detect the road surface and obstacles. A Steerable Filter is employed at an early stage to dramatically lower the noise. Furthermore, a modified Hough Transform is placed to extract the straight line feature from the depth map with improved accuracy. The system is robust in dealing with fault detection caused by roadside features which is a commonly shared problem in many other obstacle detection approaches.
Keywords :
Hough transforms; collision avoidance; feature extraction; object detection; road safety; 3D camera; Hough Transform; V-U-Disparity map; automatic obstacle detection system; reliable driving scene analysis; road surface detection; steerable filter; straight line feature extraction; Cameras; Feature extraction; Noise; Pixel; Roads; Surface treatment; Three dimensional displays;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Signal Processing and their Applications (WOSSPA), 2011 7th International Workshop on
Conference_Location :
Tipaza
Print_ISBN :
978-1-4577-0689-9
Type :
conf
DOI :
10.1109/WOSSPA.2011.5931462
Filename :
5931462
Link To Document :
بازگشت