Skip navigation
Skip navigation

Active Vision for Road Scene Awareness

Dankers, Andrew; Barnes, Nick; Zelinsky, Alexander

Description

We present a mapping approach to road scene awareness based on active stereo vision. We generalise traditional static multi-camera rectification techniques to enable active epipolar rectification with a mosaic representation of the output. The approach is used to apply standard static depth mapping and optical flow techniques to the active case. We use the framework to extract the ground plane and segment moving objects in dynamic scenes using arbitrarily moving cameras on a moving vehicle. The...[Show more]

dc.contributor.authorDankers, Andrew
dc.contributor.authorBarnes, Nick
dc.contributor.authorZelinsky, Alexander
dc.coverage.spatialLas Vegas USA
dc.date.accessioned2015-12-13T22:59:31Z
dc.date.createdJune 6 2005
dc.identifier.isbn0780389611
dc.identifier.urihttp://hdl.handle.net/1885/83846
dc.description.abstractWe present a mapping approach to road scene awareness based on active stereo vision. We generalise traditional static multi-camera rectification techniques to enable active epipolar rectification with a mosaic representation of the output. The approach is used to apply standard static depth mapping and optical flow techniques to the active case. We use the framework to extract the ground plane and segment moving objects in dynamic scenes using arbitrarily moving cameras on a moving vehicle. The approach enables an estimation of the velocity of the vehicle relative to the road, and the velocity of objects in the scene. We provide footage of preliminary results of the system operating in real-time, including dynamic object extraction and tracking, ground plane extraction, and recovery of vehicle velocity.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.relation.ispartofseriesIEEE Intelligent Vehicles Symposium 2005
dc.source2005 IEEE Intelligent Vehicles Symposium Proceedings
dc.subjectKeywords: Cameras; Estimation; Mapping; Motion estimation; Optical flows; Real time systems; Vehicle locating systems; Active vision; Moving objects; Moving vehicle; Static depth mapping; Stereo vision
dc.titleActive Vision for Road Scene Awareness
dc.typeConference paper
local.description.notesImported from ARIES
local.description.refereedYes
dc.date.issued2005
local.identifier.absfor080101 - Adaptive Agents and Intelligent Robotics
local.identifier.ariespublicationMigratedxPub12125
local.type.statusPublished Version
local.contributor.affiliationDankers, Andrew, College of Engineering and Computer Science, ANU
local.contributor.affiliationBarnes, Nick, College of Engineering and Computer Science, ANU
local.contributor.affiliationZelinsky, Alexander, Seeing Machines Pty Ltd
local.description.embargo2037-12-31
local.bibliographicCitation.startpage187
local.bibliographicCitation.lastpage192
local.identifier.doi10.1109/IVS.2005.1505100
dc.date.updated2015-12-12T07:29:02Z
local.identifier.scopusID2-s2.0-33745955401
CollectionsANU Research Publications

Download

File Description SizeFormat Image
01_Dankers_Active_Vision_for_Road_Scene_2005.pdf419.23 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  19 May 2020/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator