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Gaussian process regression-based robust free space detection for autonomous vehicle by 3-D point cloud and 2-D appearance information fusion

Xiao, Zhipeng; Dai, Bin; Li, hongdong; Wu, Tao; Xu, Xin; Zeng, Yujun; Chen, Tongtong


Free space detection is crucial to autonomous vehicles while existing works are not entirely satisfactory. As cameras have many advantages on environment perception, a stereo vision-based robust free space detection method is proposed which mainly depends on geometry information and Gaussian process regression. In this work, in order to improve the performance by exploiting multiple source information, we apply Bayesian framework and conditional random field inference to fuse the multimodal...[Show more]

CollectionsANU Research Publications
Date published: 2017-08-04
Type: Journal article
Source: International Journal of Advanced Robotic systems
DOI: 10.1177/1729881417717058
Access Rights: Open Access


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