Stereo vision-based obstacle detection using fusion method of road scenes

Dajun DIng; Soon Kwon; Jaehyeong Park; Wooyoung Jung

doi:10.1109/TENCON.2015.7372736

Stereo vision-based obstacle detection using fusion method of road scenes

Dajun DIng
, Soon Kwon
, Jaehyeong Park
, Wooyoung Jung

Division of Automotive Technology

Daegu Gyeongbuk Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Free space and on-road obstacle detection is one of the key functions for the implementation of the vision-based intelligent vehicle and robot navigation system. Stereo vision-based algorithm for this task is more realistic and precious compared with radar or lidar-based algorithms. In addition, accurate estimation results can indicate the current and approaching conditions in the complex traffic scenes. A fusion method which combines polar occupancy grid and probability model for free space detection is proposed in this paper. The spatial and temporal filter is used to get more accurate results. After that, an adaptive membership cost function is applied for obstacle estimation on the road. Experiment results show that our method achieves high stability in a variety of traffic environments.

Original language	English
Title of host publication	TENCON 2015 - 2015 IEEE Region 10 Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479986415
DOIs	https://doi.org/10.1109/TENCON.2015.7372736
State	Published - 5 Jan 2016
Event	35th IEEE Region 10 Conference, TENCON 2015 - Macau, Macao Duration: 1 Nov 2015 → 4 Nov 2015

Publication series

Name	IEEE Region 10 Annual International Conference, Proceedings/TENCON
Volume	2016-January
ISSN (Print)	2159-3442
ISSN (Electronic)	2159-3450

Conference

Conference	35th IEEE Region 10 Conference, TENCON 2015
Country/Territory	Macao
City	Macau
Period	1/11/15 → 4/11/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

Keywords

free space detection
image processing
intelligent traffic
stereo vision

Access to Document

10.1109/TENCON.2015.7372736

Cite this

DIng, D., Kwon, S., Park, J., & Jung, W. (2016). Stereo vision-based obstacle detection using fusion method of road scenes. In TENCON 2015 - 2015 IEEE Region 10 Conference Article 7372736 (IEEE Region 10 Annual International Conference, Proceedings/TENCON; Vol. 2016-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/TENCON.2015.7372736

@inproceedings{d1e56fa15e3e4e07a5d0f0527aa71e64,

title = "Stereo vision-based obstacle detection using fusion method of road scenes",

abstract = "Free space and on-road obstacle detection is one of the key functions for the implementation of the vision-based intelligent vehicle and robot navigation system. Stereo vision-based algorithm for this task is more realistic and precious compared with radar or lidar-based algorithms. In addition, accurate estimation results can indicate the current and approaching conditions in the complex traffic scenes. A fusion method which combines polar occupancy grid and probability model for free space detection is proposed in this paper. The spatial and temporal filter is used to get more accurate results. After that, an adaptive membership cost function is applied for obstacle estimation on the road. Experiment results show that our method achieves high stability in a variety of traffic environments.",

keywords = "free space detection, image processing, intelligent traffic, stereo vision",

author = "Dajun DIng and Soon Kwon and Jaehyeong Park and Wooyoung Jung",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 35th IEEE Region 10 Conference, TENCON 2015 ; Conference date: 01-11-2015 Through 04-11-2015",

year = "2016",

month = jan,

day = "5",

doi = "10.1109/TENCON.2015.7372736",

language = "English",

series = "IEEE Region 10 Annual International Conference, Proceedings/TENCON",

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DIng, D, Kwon, S, Park, J & Jung, W 2016, Stereo vision-based obstacle detection using fusion method of road scenes. in TENCON 2015 - 2015 IEEE Region 10 Conference., 7372736, IEEE Region 10 Annual International Conference, Proceedings/TENCON, vol. 2016-January, Institute of Electrical and Electronics Engineers Inc., 35th IEEE Region 10 Conference, TENCON 2015, Macau, Macao, 1/11/15. https://doi.org/10.1109/TENCON.2015.7372736

Stereo vision-based obstacle detection using fusion method of road scenes. / DIng, Dajun; Kwon, Soon; Park, Jaehyeong et al.
TENCON 2015 - 2015 IEEE Region 10 Conference. Institute of Electrical and Electronics Engineers Inc., 2016. 7372736 (IEEE Region 10 Annual International Conference, Proceedings/TENCON; Vol. 2016-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Stereo vision-based obstacle detection using fusion method of road scenes

AU - DIng, Dajun

AU - Kwon, Soon

AU - Park, Jaehyeong

AU - Jung, Wooyoung

PY - 2016/1/5

Y1 - 2016/1/5

N2 - Free space and on-road obstacle detection is one of the key functions for the implementation of the vision-based intelligent vehicle and robot navigation system. Stereo vision-based algorithm for this task is more realistic and precious compared with radar or lidar-based algorithms. In addition, accurate estimation results can indicate the current and approaching conditions in the complex traffic scenes. A fusion method which combines polar occupancy grid and probability model for free space detection is proposed in this paper. The spatial and temporal filter is used to get more accurate results. After that, an adaptive membership cost function is applied for obstacle estimation on the road. Experiment results show that our method achieves high stability in a variety of traffic environments.

AB - Free space and on-road obstacle detection is one of the key functions for the implementation of the vision-based intelligent vehicle and robot navigation system. Stereo vision-based algorithm for this task is more realistic and precious compared with radar or lidar-based algorithms. In addition, accurate estimation results can indicate the current and approaching conditions in the complex traffic scenes. A fusion method which combines polar occupancy grid and probability model for free space detection is proposed in this paper. The spatial and temporal filter is used to get more accurate results. After that, an adaptive membership cost function is applied for obstacle estimation on the road. Experiment results show that our method achieves high stability in a variety of traffic environments.

KW - free space detection

KW - image processing

KW - intelligent traffic

KW - stereo vision

UR - https://www.scopus.com/pages/publications/84962176095

U2 - 10.1109/TENCON.2015.7372736

DO - 10.1109/TENCON.2015.7372736

M3 - Conference contribution

AN - SCOPUS:84962176095

T3 - IEEE Region 10 Annual International Conference, Proceedings/TENCON

BT - TENCON 2015 - 2015 IEEE Region 10 Conference

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 35th IEEE Region 10 Conference, TENCON 2015

Y2 - 1 November 2015 through 4 November 2015

ER -

Stereo vision-based obstacle detection using fusion method of road scenes

Abstract

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Bibliographical note

Keywords

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