This paper presents an obstacle detection method by using a monocular camera on a moving platform. The method can detect various static and moving obstacles based on multi-cues fusion. Firstly, an improved motion compensation cue is applied to detect the obstacles which violate the road plane assumption; Secondly, a novel image segmentation cue is introduced to increase the obstacle detection rate and decrease false detection rate; Furthermore, these cues are combined in a Bayesian framework to generate a probability map of obstacle; Finally, an efficient probability update model is presented to update the probability map and the obstacle regions can be generated. Experiment results show that the proposed obstacle detection method is robust to obstacle types, varying illumination conditions, and various scenes. Moreover, using the combined cues outperforms any individual cue.


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    Title :

    Obstacle detection based on multiple cues fusion from monocular camera


    Contributors:
    Liu, Wei (author) / Zuo, Liyuan (author) / Yu, Hongfei (author) / Yuan, Huai (author) / Zhao, Hong (author)


    Publication date :

    2013-10-01


    Size :

    679642 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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