18 January 2010 Robust obstacles detection and tracking using disparity for car driving assistance
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Abstract
This paper proposes a contribution for obstacles detection and tracking in the context of car-driving assistance. On the basis of the uv-disparity9 designed for in-vehicle stereovision, we propose a robust procedure to detect the objects located on the road plane. This detection is used as an initialization stage for a real-time template matching procedure based on the minimizing of a weighted cost function. An appropriate update of the weights, based upon the quality of the previous matching and depth information, allows to track efficiently non-rigid objects in front of a clutter background . Sequences involving pedestrians are used to demonstrate the efficiency of our procedure.
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M. Gouiffès, A. Patri, M. Vasiliu, "Robust obstacles detection and tracking using disparity for car driving assistance", Proc. SPIE 7539, Intelligent Robots and Computer Vision XXVII: Algorithms and Techniques, 75390H (18 January 2010); doi: 10.1117/12.840529; https://doi.org/10.1117/12.840529
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