inria-00172651, version 1
Outdoor Obstacle Detection and Localisation with Monovision and 3D Geographical Database
The 10th International IEEE Conference on Intelligent Transportation Systems - ITSC'07 (2007) 1102-1107
Abstract: 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:
- CNRS : UMR8146 – Université Lille I - Sciences et technologies – Ecole Centrale de Lille
- 2:
- INRIA – CNRS : UMR7503 – Université Henri Poincaré - Nancy I – Université Nancy II – Institut National Polytechnique de Lorraine (INPL)
- Domain : Computer Science/Automatic Control Engineering
Computer Science/Robotics - Keywords : Geographic Information Systems – Vision Enhancement – Collision Avoidance
- Comment : 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
- From:
- Submitted on: Monday, 17 September 2007 16:01:44
- Updated on: Tuesday, 6 March 2012 14:03:53
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