30 July 1998 Employing range imagery for vision-based driver assistance
Author Affiliations +
Most research in vision-based driver assistance has utilized graylevel or color image sequences. Since the spatial arrangement of scene objects is often more relevant than the reflected brightness information, there has been an increasing interest in range sensors for collision avoidance systems recently. In our approach for obstacle detection and tracking, obstacles are defined as non-traversable objects. Thus obstacle detection is done by checking the traversability of the environment in the sensor's field of view. Once an obstacle is detected, it is tracked along the time axis. Robust long-term tracking is performed by the analysis of the spatial arrangement of obstacles. Our tracking scheme handles problems as occlusion, new appearance or disappearance of scene objects. To be robust against segmentation errors and poor reflection properties of scene objects, splitting of obstacles is taken into account. Our approach was tested on 11 range image sequences consisting of 447 frames. Different scenarios such as driving along a curve, oncoming traffic, high relative velocity between vehicles, and heavy traffic were investigated.
© (1998) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Karin Sobottka, Karin Sobottka, Horst Bunke, Horst Bunke, } "Employing range imagery for vision-based driver assistance", Proc. SPIE 3364, Enhanced and Synthetic Vision 1998, (30 July 1998); doi: 10.1117/12.317466; https://doi.org/10.1117/12.317466


Stereo-based collision avoidance system for urban traffic
Proceedings of SPIE (November 20 2002)
Analysis of color and range image using PDS
Proceedings of SPIE (May 03 1993)
Medium Resolution Road Detector
Proceedings of SPIE (August 24 1983)
Obstacle Avoidance On Roadways Using Range Data
Proceedings of SPIE (February 24 1987)

Back to Top