Small Object Detection Based on Stereo Vision

Small Object Detection Based on Stereo Vision*

Sensing the environment around the host vehicle is an essential task of autonomous driving systems and advanced driver assistance systems. Detecting small objects on road is one of the environment sensing tasks which LIDAR has some fundamental difficulties to handle. For example, assume a typical LIDAR, Velodyne HDL-32E, installed on the top of a vehicle with 2.4 meter high. According to the sp...

Stereo Vision-based Vehicle Detection∗

This paper presents the methods for sensing vehicles (localization and tracking) implemented on the ARGO vehicle. The perception of the environment is performed through the sole processing of images acquired from a stereo vision system installed on board of the vehicle.

Stereo Vision based Vehicle Detection

This paper describes a vehicle detection method using 3D data derived from a disparity map available in realtime. The integration of a flat road model reduces the search space in all dimensions. Inclination changes are considered for the road model update. The vehicles, modeled as a cuboid, are detected in an iterative refinement process for hypotheses generation on the 3D data. The detection o...

Model Based Object Recognition using Stereo Vision

Model-Based Object Tracking Using Stereo Vision

Robust and accurate object recognition and tracking is a necessary pre-requisite for visual servoing tasks. While most approaches use monocular vision in order to solve this problem, this paper presents a new approach using disparity images provided by a stereo vision system from which 3-D models are reconstructed. We use a segmentation procedure based on a simple region growing process to segm...