Abstract
This paper presents a method for determining the free space in a scene as viewed by a vehicle-mounted camera.
Using disparity maps from a stereo camera and known camera motion, the disparity maps are first filtered by an iconic Kalman filter, operating on each pixel individually, thereby reducing variance and increasing the density of the filtered disparity map. Then, a stochastic occupancy grid is calculated from the filtered disparity map, providing a top-down view of the scene where the uncertainty of disparity measurements are taken into account. These occupancy grids are segmented to indicate a maximum depth free of obstacles, enabling the marking of free space in the accompanying intensity image. The test shows successful marking of free space in the evaluated scenarios in addition to significant improvement in disparity map quality.
Using disparity maps from a stereo camera and known camera motion, the disparity maps are first filtered by an iconic Kalman filter, operating on each pixel individually, thereby reducing variance and increasing the density of the filtered disparity map. Then, a stochastic occupancy grid is calculated from the filtered disparity map, providing a top-down view of the scene where the uncertainty of disparity measurements are taken into account. These occupancy grids are segmented to indicate a maximum depth free of obstacles, enabling the marking of free space in the accompanying intensity image. The test shows successful marking of free space in the evaluated scenarios in addition to significant improvement in disparity map quality.
Original language | English |
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Title of host publication | International Conference on Computer Vision Theory and Applications (VISAPP) |
Number of pages | 4 |
Volume | 1 |
Publisher | Institute for Systems and Technologies of Information, Control and Communication |
Publication date | 17 May 2010 |
Pages | 164-167 |
ISBN (Electronic) | 978-989-674-028-3 |
Publication status | Published - 17 May 2010 |
Event | The International Conference on Computer Vision Theory and Applications - Angers, France Duration: 17 May 2010 → 21 May 2010 |
Conference
Conference | The International Conference on Computer Vision Theory and Applications |
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Country/Territory | France |
City | Angers |
Period | 17/05/2010 → 21/05/2010 |