DocumentCode
3265415
Title
A Global Optimization Algorithm for Real-Time On-Board Stereo Obstacle Detection Systems
Author
Kubota, Susumu ; Nakano, Tsuyoshi ; Okamoto, Yasukazu
Author_Institution
TOSHIBA Corp., Kawasaki
fYear
2007
fDate
13-15 June 2007
Firstpage
7
Lastpage
12
Abstract
A fast and robust stereo algorithm for on-board obstacle detection systems is proposed. The proposed method finds the optimum road-obstacle boundary which provides the most consistent interpretation of the input stereo image pair. Global optimization combined with a robust matching measure enables stable detection of obstacles under various circumstances, such as heavy rain and severe lighting conditions. The processing time for VGA size image pair is about 15 msec on a 3.6 GHz pentium IV processor, which is fast enough for realtime applications.
Keywords
object detection; optimisation; road safety; road traffic; stereo image processing; traffic engineering computing; global optimization algorithm; optimum road-obstacle boundary; real-time on-board stereo obstacle detection systems; stereo image; Apertures; Cameras; Computational efficiency; Rain; Real time systems; Roads; Robustness; Search methods; Stereo vision; Vehicle detection;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Vehicles Symposium, 2007 IEEE
Conference_Location
Istanbul
ISSN
1931-0587
Print_ISBN
1-4244-1067-3
Electronic_ISBN
1931-0587
Type
conf
DOI
10.1109/IVS.2007.4290083
Filename
4290083
Link To Document