HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

Obstacle Detection from IPM and Super-Homography

Abstract : We present in this article a simple method to estimate an IPM view from an embedded camera. The method is based on the tracking of the road markers assuming that the road is locally planar. Our aim is the development of a free-space estimator which can be implemented in an Autonomous Guided Vehicle to allow a safe path planning. Opposite to most of the obstacle detection methods which make assumptions on the shape or height of the obstacles, all the scene elements above the road plane (particularly kerbs and poles) have to be detected as obstacles. Combined with the IPM tranformation, this obstacle detection stage can be viewed as the first stage of a free-space estimator dedicated to AGV in the complex urban environments.
Complete list of metadata

Cited literature [15 references]  Display  Hide  Download

Contributor : Nicolas Simond Connect in order to contact the contributor
Submitted on : Friday, July 27, 2007 - 3:24:45 PM
Last modification on : Thursday, February 3, 2022 - 11:18:31 AM
Long-term archiving on: : Tuesday, September 21, 2010 - 1:12:07 PM


Files produced by the author(s)


  • HAL Id : inria-00141922, version 2



Nicolas Simond. Obstacle Detection from IPM and Super-Homography. IEEE IROS 2007 / International Conference on Intelligent Robots and Systems, IEEE Intelligent Robots and Systems, Oct 2007, San Diego, California / USA, United States. ⟨inria-00141922v2⟩



Record views


Files downloads