Road Interpretation for Driver Assistance Based on an Early Cognitive Vision System

Başeski, E., Baunegaard With Jensen, L., Pugeault, N. , Pilz, F., Pauwels, K., Van Hulle, M. M., Wörgötter, F. and Krüger, N. (2009) Road Interpretation for Driver Assistance Based on an Early Cognitive Vision System. In: 4th International Conference on Computer Vision Theory and Applications (VISAPP 2009), Lisboa, Portugal, 05-08 Feb 2009, pp. 496-505. ISBN 9789898111692

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Abstract

In this work, we address the problem of road interpretation for driver assistance based on an early cognitive vision system. The structure of a road and the relevant traffic are interpreted in terms of ego-motion estimation of the car, independently moving objects on the road, lane markers and large scale maps of the road. We make use of temporal and spatial disambiguation mechanisms to increase the reliability of visually extracted 2D and 3D information. This information is then used to interpret the layout of the road by using lane markers that are detected via Bayesian reasoning. We also estimate the ego-motion of the car which is used to create large scale maps of the road and also to detect independently moving objects. Sample results for the presented algorithms are shown on a stereo image sequence, that has been collected from a structured road.

Item Type:Conference Proceedings
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Pugeault, Dr Nicolas
Authors: Başeski, E., Baunegaard With Jensen, L., Pugeault, N., Pilz, F., Pauwels, K., Van Hulle, M. M., Wörgötter, F., and Krüger, N.
College/School:College of Science and Engineering > School of Computing Science
ISBN:9789898111692

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