Vehicle Trajectory from an Uncalibrated Stereo-Rig with Super-Homography

Simond, Nicolas; Laurgeau, Claude

doi:10.1109/iros.2006.282347

Cited by 3 publications

(2 citation statements)

References 16 publications

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“…[15]), we can afford to reconstruct the road plane with a mosaicing of warped images all expressed in the first one. The reference image was a bird-eye view of the first image of the video sequence of 312 frames long that corresponds to a path greater than 250m.…”

Section: Discussionmentioning

confidence: 99%

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Obstacle detection from IPM and super-homography

Simond

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2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-We present in this article a simple method to estimate an IPM view from an embedded camera. The method is based on the tracking of the road markers assuming that the road is locally planar. Our aim is the development of a freespace estimator which can be implemented in an Autonomous Guided Vehicle to allow a safe path planning. Opposite to most of the obstacle detection methods which make assumptions on the shape or height of the obstacles, all the scene elements above the road plane (particularly kerbs and poles) have to be detected as obstacles. Combined with the IPM tranformation, this obstacle detection stage can be viewed as the first stage of a free-space estimator dedicated to AGV in the complex urban environments.

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Section: Discussionmentioning

confidence: 99%

“…We personally use the simplest model: the road borders are linearized at the foreground and converge to the Dominant Vanishing Point (DVP) x whatever the road curvature is. The reader can retrieve in [15] the tracking process we have developed to segment the projection of the road in images.…”

Section: A Interestmentioning

confidence: 99%