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
Collections
Source
2005 IEEE Intelligent Vehicles Symposium Proceedings
Type
Conference paper
Book Title
Entity type
Access Statement
License Rights
Restricted until
2037-12-31
Downloads
File
Description