Dynamic obstacle detection through cooperation of purposive visual modules of color, stereo and motion

Presents a new framework for detection of dynamic obstacles in the unstructured outdoor road environment by integrating binocular color image sequences. In the authors´ system, color image segmentation, stereo obstacle detection, visual egomotion estimation, and moving object analysis, are all built-in task-oriented modules and hence are efficient and robust. Most of these functions can be performed in real-time. They are activated and integrated adaptively in the manner of neural parallel distributed processing (PDP). Experimental results are given to validate the authors´ philosophy of so-called purposive vision, retinal mapping, adaptive integration and parallel distributed processing