Abstract
In this work, we address the problem of road interpretation for driver assistance based on an early cognitive
vision system. The structure of a road and the relevant traffic are interpreted in terms of ego-motion estimation
of the car, independently moving objects on the road, lane markers and large scale maps of the road. We make
use of temporal and spatial disambiguation mechanisms to increase the reliability of visually extracted 2D and
3D information. This information is then used to interpret the layout of the road by using lane markers that are
detected via Bayesian reasoning. We also estimate the ego-motion of the car which is used to create large scale
maps of the road and also to detect independently moving objects. Sample results for the presented algorithms
are shown on a stereo image sequence, that has been collected from a structured road.
vision system. The structure of a road and the relevant traffic are interpreted in terms of ego-motion estimation
of the car, independently moving objects on the road, lane markers and large scale maps of the road. We make
use of temporal and spatial disambiguation mechanisms to increase the reliability of visually extracted 2D and
3D information. This information is then used to interpret the layout of the road by using lane markers that are
detected via Bayesian reasoning. We also estimate the ego-motion of the car which is used to create large scale
maps of the road and also to detect independently moving objects. Sample results for the presented algorithms
are shown on a stereo image sequence, that has been collected from a structured road.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the International Conference on Computer Vision Theory and Applications (VISAPP'09) |
| Volume | 2 |
| Publisher | Institute for Systems and Technologies of Information, Control and Communication |
| Publication date | 2009 |
| Pages | 496-505 |
| ISBN (Print) | 978-989-8111-69-2 |
| Publication status | Published - 2009 |
| Event | International Conference on Computer Vision Theory and Applications - Lissabon, Portugal Duration: 3 Feb 2009 → 6 Feb 2009 |
Conference
| Conference | International Conference on Computer Vision Theory and Applications |
|---|---|
| Country/Territory | Portugal |
| City | Lissabon |
| Period | 03/02/2009 → 06/02/2009 |
Keywords
- large scale maps
- lane detection
- independently moving objects