Vision-based autonomous vehicles must face numerous challenges in order to be effective in practical areas. Among these lies the detection and localization of independent-moving objects, so as to track or avoid them. In this paper a method that address this particular issue is presented. Information from stereo and motion is used to extract the ego-motion of the vehicle. Known defects of this estimation are exploited to detect independent-moving obstacles. This method allows an early and reliable detection, even for objects partially occluded. Besides, it highlights the errors in the disparity map, which can be used, in future works, to correct depth-estimation, through motion-estimation.


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    Title :

    Detection of independently moving objects through stereo vision and ego-motion extraction


    Contributors:
    Bak, A (author) / Bouchafa, S (author) / Aubert, D (author)


    Publication date :

    2010-06-01


    Size :

    2128934 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Detection of Independently Moving Objects through Stereo-Vision and Ego-Motion Extraction, pp. 863-870

    Bak, A. / Bouchafa, S. / Aubert, D. et al. | British Library Conference Proceedings | 2010


    Detection of Independently Moving Objects in Passive Video

    Morimoto, C. / De Menthon, D. / Davis, L. et al. | British Library Conference Proceedings | 1995


    Detection of independently moving objects in passive video

    Morimoto, C. / DeMenthon, D. / Davis, L. et al. | IEEE | 1995