DocumentCode :
679232
Title :
Obstacle detection based on multiple cues fusion from monocular camera
Author :
Wei Liu ; Liyuan Zuo ; Hongfei Yu ; Huai Yuan ; Hong Zhao
Author_Institution :
Res. Acad., Northeastern Univ., Shenyang, China
fYear :
2013
fDate :
6-9 Oct. 2013
Firstpage :
640
Lastpage :
645
Abstract :
This paper presents an obstacle detection method by using a monocular camera on a moving platform. The method can detect various static and moving obstacles based on multi-cues fusion. Firstly, an improved motion compensation cue is applied to detect the obstacles which violate the road plane assumption; Secondly, a novel image segmentation cue is introduced to increase the obstacle detection rate and decrease false detection rate; Furthermore, these cues are combined in a Bayesian framework to generate a probability map of obstacle; Finally, an efficient probability update model is presented to update the probability map and the obstacle regions can be generated. Experiment results show that the proposed obstacle detection method is robust to obstacle types, varying illumination conditions, and various scenes. Moreover, using the combined cues outperforms any individual cue.
Keywords :
cameras; image fusion; image segmentation; lighting; motion compensation; object detection; probability; road traffic; traffic engineering computing; Bayesian framework; false detection rate; illumination conditions; image segmentation cue; monocular camera; motion compensation cue; moving obstacles; moving platform; multiple cues fusion; obstacle detection method; obstacle probability map; probability update model; road plane assumption; static obstacles; Cameras; Equations; Estimation; Image segmentation; Mathematical model; Motion compensation; Roads;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on
Conference_Location :
The Hague
Type :
conf
DOI :
10.1109/ITSC.2013.6728303
Filename :
6728303
Link To Document :
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