Motion-based obstacle detection and tracking for car driving assistance

G. Lefaix 1, 2 E. Marchand 1 Patrick Bouthemy 2
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : This paper is concerned with the detection and tracking of obstacles from a camera mounted on a vehicle with a view to driver assistance. To achieve this goal, we have designed a technique entirely based on image motion analysis. We perform the robust estimation of the dominant image motion assumed to be due to the camera motion. Then by considering the outliers to the estimated dominant motion, we can straightforwardly detect obstacles in order to assist car driving. We have added to the detection step a tracking module that also relies on a motion consistency criterion. Time-to-collision is then computed for each validated obstacle. We have thus developed an application-oriented solution which has proven accurate, reliable and efficient as demonstrated by experiments on numerous real situations.
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Communication dans un congrès
IAPR Int. Conf. on Pattern Recognition, ICPR'02, 2002, Quebec, Canada, Canada. 4, pp.74-77, 2002
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G. Lefaix, E. Marchand, Patrick Bouthemy. Motion-based obstacle detection and tracking for car driving assistance. IAPR Int. Conf. on Pattern Recognition, ICPR'02, 2002, Quebec, Canada, Canada. 4, pp.74-77, 2002. 〈inria-00352091〉

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