Tracking with Stereo-vision System for Low Speed Following Applications

Julien Morat 1 Frédéric Devernay 1 Sébastien Cornou 2
1 PRIMA - Perception, recognition and integration for observation of activity
Inria Grenoble - Rhône-Alpes, UJF - Université Joseph Fourier - Grenoble 1, INPG - Institut National Polytechnique de Grenoble , CNRS - Centre National de la Recherche Scientifique : UMR5217
Abstract : Research in adaptative cruise control (ACC) is currently one of the most important topics in the field of intelligent transportation systems. The main challenge is to perceive the environment, especialy at low speed. In this paper, we present a novel approach to track the 3-D trajectory and speed of the obstacles and the surrounding vehicles through a stereo-vision system. This tracking method extends the classical patch-based Lucas-Kanade algorithm [9], [1] by integrating the geometric constraints of the stereo system into the motion model: the epipolar constraint, which enforces the tracked patches to remain on the epipolar lines, and the magnification constraint, which links the disparity of the tracked patches to the apparent size of these patches. We report experimental results on simulated and real data showing the improvement in accuracy and robustness of our algorithm compared to the classical Lucas-Kanade tracker.
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Julien Morat, Frédéric Devernay, Sébastien Cornou. Tracking with Stereo-vision System for Low Speed Following Applications. IEEE Intelligent Vehicles Symposium, IEEE, Jun 2007, Istanbul, Turkey. pp.955-961, ⟨10.1109/IVS.2007.4290240⟩. ⟨inria-00262147⟩

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