From stixels to asteroids: towards a collision warning system using stereo vision

Willem Sanberg, Gijs Dubbelman, Peter de With

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

2 Citations (Scopus)

Abstract

This paper explores the use of stixels in a probabilistic stereo vision-based collision-warning system that can be part of an ADAS for intelligent vehicles. In most current systems, collision warnings are based on radar or on monocular vision using pattern recognition (and ultra-sound for park assist). Since detecting collisions is such a core functionality of intelligent vehicles, redundancy is key. Therefore, we explore the use of stereo vision for reliable collision prediction. Our algorithm consists of a Bayesian histogram filter that provides the probability of collision for multiple interception regions and angles towards the vehicle. This could additionally be fused with other sources of information in larger systems. Our algorithm builds upon the disparity Stixel World that has been developed for efficient automotive vision applications. Combined with image flow and uncertainty modeling, our system samples and propagates asteroids, which are dynamic particles that can be utilized for collision prediction. At best, our independent system detects all 31 simulated collisions (2 false warnings), while this setting generates 12 false warnings on the real-world data.
Original languageEnglish
Title of host publicationIS&T Electronic Imaging
Subtitle of host publicationAutonomous Vehicles and Machines
PublisherSociety for Imaging Science and Technology (IS&T)
Number of pages6
DOIs
Publication statusPublished - 13 Jan 2019
EventIS&T International Symposium on Electronic Imaging 2019, Image Processing: Algorithms and Systems XVII - Burlingame, United States
Duration: 13 Jan 201917 Jan 2019
Conference number: XVII
http://www.imaging.org/site/IST/IST/Conferences/EI/EI_2019/Conference/C_IPAS.aspx

Publication series

NameElectronic imaging
ISSN (Electronic)2470-1173

Conference

ConferenceIS&T International Symposium on Electronic Imaging 2019, Image Processing: Algorithms and Systems XVII
Abbreviated titleIPAS2019
Country/TerritoryUnited States
CityBurlingame
Period13/01/1917/01/19
Internet address

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