
Proceedings Paper
Negative obstacle detection from image sequencesFormat | Member Price | Non-Member Price |
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Paper Abstract
Negative obstacle detection has been a challenging topic. In the previous researches, the distance that negative obstacles
can be detected is so near that vehicles have to travel at a very low speed. In this paper, a negative obstacle detection
algorithm from image sequences is proposed. When negative obstacles are far from the vehicle, color appearance models
are used as the cues of detecting negative obstacles, while negative obstacles get closer, geometrical cues are extracted
from stereo vision. Furthermore, different cues are combined in a Bayesian framework to detect obstacles in image
sequences. Massive experiments show that the proposed negative obstacle detection algorithm is quite effective. The
alarming distance for 0.8 m width negative obstacle is 18m, and the confirming distance is 10 m. This supplies more
space for vehicles to slow down and avoid obstacles. Then, the security of the UGV running in the field can be improved
remarkably.
Paper Details
Date Published: 8 July 2011
PDF: 7 pages
Proc. SPIE 8009, Third International Conference on Digital Image Processing (ICDIP 2011), 80090Y (8 July 2011); doi: 10.1117/12.896288
Published in SPIE Proceedings Vol. 8009:
Third International Conference on Digital Image Processing (ICDIP 2011)
Ting Zhang, Editor(s)
PDF: 7 pages
Proc. SPIE 8009, Third International Conference on Digital Image Processing (ICDIP 2011), 80090Y (8 July 2011); doi: 10.1117/12.896288
Show Author Affiliations
Tingbo Hu, National Univ. of Defense Technology (China)
Yiming Nie, National Univ. of Defense Technology (China)
Yiming Nie, National Univ. of Defense Technology (China)
Tao Wu, National Univ. of Defense Technology (China)
Hangen He, National Univ. of Defense Technology (China)
Hangen He, National Univ. of Defense Technology (China)
Published in SPIE Proceedings Vol. 8009:
Third International Conference on Digital Image Processing (ICDIP 2011)
Ting Zhang, Editor(s)
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