Robust obstacles detection and tracking using disparity for car driving assistance

M. Gouiffès; A. Patri; M. Vasiliu

doi:10.1117/12.840529

18 January 2010 Robust obstacles detection and tracking using disparity for car driving assistance

M. Gouiffès, A. Patri, M. Vasiliu

Proceedings Volume 7539, Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques; 75390H (2010) https://doi.org/10.1117/12.840529
Event: IS&T/SPIE Electronic Imaging, 2010, San Jose, California, United States

Abstract

This paper proposes a contribution for obstacles detection and tracking in the context of car-driving assistance. On the basis of the uv-disparity9 designed for in-vehicle stereovision, we propose a robust procedure to detect the objects located on the road plane. This detection is used as an initialization stage for a real-time template matching procedure based on the minimizing of a weighted cost function. An appropriate update of the weights, based upon the quality of the previous matching and depth information, allows to track efficiently non-rigid objects in front of a clutter background . Sequences involving pedestrians are used to demonstrate the efficiency of our procedure.

Citation Download Citation

M. Gouiffès, A. Patri, and M. Vasiliu "Robust obstacles detection and tracking using disparity for car driving assistance", Proc. SPIE 7539, Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques, 75390H (18 January 2010); https://doi.org/10.1117/12.840529

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