Title :
Outdoor Obstacle Detection and Localisation with Monovision and 3D Geographical Database
Author :
Cappelle, Cindy ; El Badaoui El Najjar, M. ; Charpillet, François ; Pomorski, Denis
Author_Institution :
Polytech´´Lille, Villeneuve-d´´Ascq
fDate :
Sept. 30 2007-Oct. 3 2007
Abstract :
In this paper, an obstacle detection approach for downtown environments is developed. This approach exploits a 3D geographical database managed by a 3D-GIS and a monovision-based system. The pose estimated by a LRK GPS is used to geo-localise the vehicle. After coordinates system conversion, the vehicle is localised in the 3D geographical database. An image processing module is developed to match synchronized images provided by 3D GIS and an on-board camera. Several kinds of obstacles are then detected and tracked by comparison between real images and virtual images. Finally, the distance between the camera and the obstacles is computed, as well as the geo-position of the detected obstacles. Experimental results with real data are presented in the final section.
Keywords :
computer vision; geographic information systems; road traffic; traffic information systems; 3D GIS; 3D geographical database; coordinates system conversion; geographic information system; image processing module; monovision-based system; obstacle geoposition; obstacle tracking; outdoor obstacle detection; synchronized image matching; vehicle geolocalisation; vehicle localisation; Cameras; Cities and towns; Geographic Information Systems; Global Positioning System; Image databases; Intelligent transportation systems; Management information systems; Mobile robots; Multimedia databases; Vehicles;
Conference_Titel :
Intelligent Transportation Systems Conference, 2007. ITSC 2007. IEEE
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-1396-6
Electronic_ISBN :
978-1-4244-1396-6
DOI :
10.1109/ITSC.2007.4357697
