Title :
A method of stereo obstacle detection based on image symmetrical move
Author :
Xu, Youchun ; Zhao, Ming ; Wang, Xiao ; Zhang, Yongjin ; Peng, Yongshen ; Yuan, Yi ; Liu, Hongquan
Author_Institution :
Automobile Eng. Dept., Tianjin, China
Abstract :
A stereo obstacle detection method based on images symmetrical move and cell partition is presented in this paper. This algorithm gets each cell´s optimum offset by calculating the minimum non-similarity of cell, and merges Cell of Interests (COIs) to calculate obstacles in the most probably obstacle regions, and gives information of these obstacles. The paper introduces the perspective projection model at first, and then gives two conclusions which are the basic of the algorithm, the part of cell partition and cell optimum offset calculation are presented. Finally, algorithm performance tested by experiment on the test vehicle JJUV-I is shown in the paper.
Keywords :
automated highways; image motion analysis; object detection; road vehicles; stereo image processing; cell partition; image symmetrical move; intelligent vehicle environment; lane marker; perspective projection model; stereo obstacle detection; stereo vision; Intelligent vehicles; Laser radar; Object detection; Partitioning algorithms; Radar detection; Stereo vision; Testing; Transportation; Vehicle detection; Vehicle safety; Image symmetrical move; Obstacle detection; Stereo vision;
Conference_Titel :
Intelligent Vehicles Symposium, 2009 IEEE
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-3503-6
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2009.5164249