Stereo-based firee space computation in complex traffic scenarios

被引：17

作者：

Badino, Hernan ^{[1
]}

Mester, Rudolf ^{[1
]}

Vaudrey, Tobi ^{[2
]}

Franke, Uwe ^{[3
]}

机构：

[1] Goethe Univ Frankfurt, VSI Lab, Frankfurt, Germany

[2] Univ Auckland, Comp Sci Dept, Auckland 1, New Zealand

[3] Daimler AG, Environm Percept, Stuttgart, Germany

来源：

2008 IEEE SOUTHWEST SYMPOSIUM ON IMAGE ANALYSIS & INTERPRETATION | 2008年

关键词：

D O I：

10.1109/SSIAI.2008.4512317

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a method for the computation of free space in complex traffic scenarios. Dynamic depth information is estimated by integrating stereo disparity images over time. Disparity and disparity speed are computed pixel-wise with Kalman filters. The stereo information is used to compute stochastic occupancy grids. Dynamic programming on a polar-like occupancy grid yields the free space. An analysis of the calculated free space allows the detection of the available free corridor in front of the 'ego-vehicle'. The method runs at a frame rate of 20 Hz in our demonstrator vehicle.

引用

页码：189 / +

页数：2

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