DocumentCode :
3055893
Title :
Curb segments detection with temporal filtering for urban driving scenarios
Author :
Oniga, Florin ; Nedevschi, Sergiu ; Meinecke, Marc Michael
Author_Institution :
Tech. Univ. of Cluj-Napoca, Cluj-Napoca
fYear :
2008
fDate :
28-30 Aug. 2008
Firstpage :
291
Lastpage :
294
Abstract :
An improved approach for the detection of curbs (border of relevant traffic isles, sidewalks, etc) is presented, in the context of urban driving assistance systems. A rectangular elevation map is built from 3D dense stereo data. Edge detection is applied to the elevation map in order to highlight height variations. Temporal filtering is performed for edge points, based on the ego car motion, and only persistent points are validated. Relevant lines are extracted using a Hough accumulator. Curb segments are extracted from each relevant line by applying a set of proposed conditions. The algorithm was evaluated in an urban scenario. It works in real-time and provides robust detection of curbs.
Keywords :
Hough transforms; driver information systems; edge detection; feature extraction; filtering theory; image segmentation; stereo image processing; 3D dense stereo data; Hough accumulator; curb segments detection; edge detection; rectangular elevation map; temporal filtering; urban driving assistance systems; urban driving scenarios; Brightness; Data mining; Filtering algorithms; Image edge detection; Layout; Road vehicles; Robustness; Shape; Vehicle detection;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Computer Communication and Processing, 2008. ICCP 2008. 4th International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
978-1-4244-2673-7
Type :
conf
DOI :
10.1109/ICCP.2008.4648389
Filename :
4648389
Link To Document :
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