Driving space detection by combining V-disparity and C-velocity

Abstract : This paper deals with road plane detection by image analysis in the context of automatic driver assistance systems. In this context, free navigable space detection is a very important step for any navigation and obstacle detection system. We propose a low-level combination of two main visual processes: stereovision and motion. We define a common representation that allows simple projections of stereo information to easy-interpretable features in a motion space. We chose to combine two robust cumulative techniques: the stereo-based approach V-disparity and the motion-based approach C-velocity. The combination requires the definition of a common formalism. Results on synthetic image sequences and on KITTI database images reveal that our approach is more efficient than a higher level combination method. We show that it is possible, using no prior knowledge nor any calibration, to improve detection by a low cost method that exploits only image processing and a very simple stereo and motion combination.
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Conference papers
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https://hal.archives-ouvertes.fr/hal-01319728
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Submitted on : Sunday, May 22, 2016 - 7:54:18 PM
Last modification on : Monday, October 28, 2019 - 10:50:22 AM

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Houssem Eddine Deghdache, Samia Bouchafa. Driving space detection by combining V-disparity and C-velocity. IEEE International Conference on Vehicular Electronics and Safety (ICVES 2015), Nov 2015, Yokohama, Japan. pp.219--224, ⟨10.1109/ICVES.2015.7396921⟩. ⟨hal-01319728⟩

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