Stereo-based Free Space Computation in Complex Traffic Scenarios

Author

Badino, Hernan ; Mester, Rudolf ; Vaudrey, T. ; Franke, Ulrik

Author_Institution

VSI Lab., J. W. Goethe Univ., Frankfurt

fYear

2008

fDate

24-26 March 2008

Firstpage

189

Lastpage

192

Abstract

This paper presents a method for the computation of free space in complex traffic scenarios. Dynamic depth information is estimated by integrating stereo disparity images over time. Disparity and disparity speed are computed pixel-wise with Kalman filters. The stereo information is used to compute stochastic occupancy grids. Dynamic programming on a polar-like occupancy grid yields the free space. An analysis of the calculated free space allows the detection of the available free corridor in front of the ´ego-vehicle´. The method runs at a frame rate of 20 Hz in our demonstrator vehicle.

Keywords

Kalman filters; dynamic programming; road traffic; road vehicles; stereo image processing; traffic engineering computing; Kalman filter; complex traffic scenario; dynamic depth information estimation; dynamic programming; polar-like occupancy grid; road vehicle; stereo disparity image; stereo-based free space computation; stochastic occupancy grid; Computer science; Dynamic programming; Grid computing; Noise measurement; Pixel; Space vehicles; Stochastic processes; Stochastic resonance; Time measurement; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Image Analysis and Interpretation, 2008. SSIAI 2008. IEEE Southwest Symposium on

Conference_Location

Santa Fe, NM

Print_ISBN

978-1-4244-2296-8

Electronic_ISBN

978-1-4244-2297-5

Type

conf

DOI

10.1109/SSIAI.2008.4512317

Filename

4512317