Free-space detection using online disparity-supervised color modeling

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Abstract

This work contributes to vision processing for intelligent vehicle applications with an emphasis on Advanced Driver Assistance Systems (ADAS). A key issue for ADAS is the robust and efficient detection of free drivable space in front of the vehicle. To this end, we propose a stixel-based probabilistic color-segmentation algorithm to distinguish the ground surface from obstacles in traffic scenes. Our system learns color appearance models for free-space and obstacle classes in an online and self-supervised fashion. To this end, it applies a disparity-based segmentation, which can run in the background of the critical system path and at a lower frame rate than the color-based algorithm. This strategy enables an algorithm without a real-time disparity estimate. As a consequence, the current road scene can be analyzed without the extra latency of disparity estimation. This feature translates into a reduced response time from data acquisition to data analysis, which is a critical property for high-speed ADAS. Our evaluation over different color modeling strategies on publicly available data shows that the color-based analysis can achieve similar (77.6% vs. 77.3% correct) or even better results (4.3% less missed obstacle-area) in difficult imaging conditions, compared to a state-of-the-art disparity-only method.
Original languageEnglish
Title of host publicationProceedings of the 7th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV)
Subtitle of host publicationat IEEE/RSJ IROS
Pages105-110
Number of pages6
Publication statusPublished - 28 Sep 2015
Event7th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV '15), September 28th, 2015, Hamburg, Germany - Hamburg, Germany
Duration: 28 Sep 201528 Sep 2015
http://ppniv15.irccyn.ec-nantes.fr/

Workshop

Workshop7th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV '15), September 28th, 2015, Hamburg, Germany
Abbreviated titlePPNIV '15
CountryGermany
CityHamburg
Period28/09/1528/09/15
OtherWorkshop held at the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015)
Internet address

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    Sanberg, W. P., Dubbelman, G., & de With, P. H. N. (2015). Free-space detection using online disparity-supervised color modeling. In Proceedings of the 7th Workshop on Planning, Perception and Navigation for Intelligent Vehicles (PPNIV): at IEEE/RSJ IROS (pp. 105-110)