Obstacle detection and classification fusing radar and vision

Author

Bertozzi, M. ; Bombini, L. ; Cerri, P. ; Medici, P. ; Antonello, P.C. ; Miglietta, M.

Author_Institution

VisLab, Univ. degli Studi di Parma, Parma

fYear

2008

fDate

4-6 June 2008

Firstpage

608

Lastpage

613

Abstract

This paper presents a system whose aim is to detect and classify road obstacles, like pedestrians and vehicles, by fusing data coming from different sensors: a camera, a radar, and an inertial sensor. The camera is mainly used to refine the vehiclespsila boundaries detected by the radar and to discard those who might be false positives; at the same time, a symmetry based pedestrian detection algorithm is executed, and its results are merged with a set of regions of interest, provided by a Motion Stereo technique.

Keywords

cameras; image classification; image motion analysis; object detection; road vehicle radar; sensor fusion; traffic engineering computing; APALACI-PReVENT European IP final demonstration; camera; inertial sensor; motion stereo technique; obstacle classification; obstacle detection; pedestrian detection algorithm; radar; road obstacles; Cameras; Detection algorithms; Layout; Motion detection; Object detection; Radar detection; Radar tracking; Road safety; Sensor systems; Vehicle detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2008 IEEE

Conference_Location

Eindhoven

ISSN

1931-0587

Print_ISBN

978-1-4244-2568-6

Electronic_ISBN

1931-0587

Type

conf

DOI

10.1109/IVS.2008.4621304

Filename

4621304