Active Vision for Road Scene Awareness

Date

2005

Authors

Dankers, Andrew
Barnes, Nick
Zelinsky, Alexander

Journal Title

Journal ISSN

Volume Title

Publisher

Institute of Electrical and Electronics Engineers (IEEE Inc)

Abstract

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 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.

Description

Keywords

Keywords: Cameras; Estimation; Mapping; Motion estimation; Optical flows; Real time systems; Vehicle locating systems; Active vision; Moving objects; Moving vehicle; Static depth mapping; Stereo vision

Citation

Source

2005 IEEE Intelligent Vehicles Symposium Proceedings

Type

Conference paper

Book Title

Entity type

Access Statement

License Rights

Restricted until

2037-12-31