inria-00172651, version 1
Outdoor Obstacle Detection and Localisation with Monovision and 3D Geographical Database
Cindy Cappelle 1Maan El Badaoui El Najjar
1, 2François Charpillet 2Denis Pomorski 1
The 10th International IEEE Conference on Intelligent Transportation Systems - ITSC'07 (2007) 1102-1107
Résumé : 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.
- 1 : Laboratoire d'Automatique, Génie Informatique et Signal (LAGIS)
- CNRS : UMR8146 – Université Lille I - Sciences et technologies – Ecole Centrale de Lille
- 2 : MAIA (INRIA Lorraine - LORIA)
- INRIA – CNRS : UMR7503 – Université Henri Poincaré - Nancy I – Université Nancy II – Institut National Polytechnique de Lorraine (INPL)
- Domaine : Informatique/Automatique
Informatique/Robotique - Mots-clés : Geographic Information Systems – Vision Enhancement – Collision Avoidance
- Commentaire : Scheduled for presentation during the Regular Session "Sensors and Vision" (WeD3)
- inria-00172651, version 1
- http://hal.inria.fr/inria-00172651
- oai:hal.inria.fr:inria-00172651
- Contributeur : Maan El Badaoui El Najjar
- Soumis le : Lundi 17 Septembre 2007, 16:01:44
- Dernière modification le : Mardi 6 Mars 2012, 14:03:53
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