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
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;
Conference_Titel :
Intelligent Vehicles Symposium, 2007 IEEE
Conference_Location :
Istanbul
Print_ISBN :
1-4244-1067-3
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2007.4290083
