Long Range Obstacle Detection Using Laser Scanner and Stereovision

To be exploited for driving assistance purpose, a road obstacle detection system must have a good detection rate and an extremely low false detection rate. Moreover, the field of possible applications depends on the detection range of the system. With these ideas in mind, we propose in this paper a...

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Published in2006 IEEE Intelligent Vehicles Symposium pp. 182 - 187
Main Authors Perrollaz, M., Labayrade, R., Royere, C., Hautiere, N., Aubert, D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2006
Subjects
Geometrical optics
Laser fusion
Laser radar
Layout
Radar detection
Radar tracking
Roads
Sensor phenomena and characterization
Smart cameras
Vehicles
Online AccessGet full text
ISBN490112286X
9784901122863
ISSN1931-0587
DOI10.1109/IVS.2006.1689625

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Abstract To be exploited for driving assistance purpose, a road obstacle detection system must have a good detection rate and an extremely low false detection rate. Moreover, the field of possible applications depends on the detection range of the system. With these ideas in mind, we propose in this paper a long range generic road obstacle detection system based on fusion between stereovision and laser scanner. The obstacles are detected and tracked by the laser sensor. Afterwards, stereovision is used to confirm the detections. An overview of the whole method is given. Then the confirmation process is detailed: three algorithms are proposed and compared on real road situations
AbstractList To be exploited for driving assistance purpose, a road obstacle detection system must have a good detection rate and an extremely low false detection rate. Moreover, the field of possible applications depends on the detection range of the system. With these ideas in mind, we propose in this paper a long range generic road obstacle detection system based on fusion between stereovision and laser scanner. The obstacles are detected and tracked by the laser sensor. Afterwards, stereovision is used to confirm the detections. An overview of the whole method is given. Then the confirmation process is detailed: three algorithms are proposed and compared on real road situations
Author Royere, C.
Perrollaz, M.
Aubert, D.
Labayrade, R.
Hautiere, N.
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  organization: Lab. sur les Interactions Vehicules-Infrastructure-Conducteurs, Inst. Nat. de Recherche sur les Transports et Leur Securite, Versailles
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StartPage 182
SubjectTerms Geometrical optics
Laser fusion
Laser radar
Layout
Radar detection
Radar tracking
Roads
Sensor phenomena and characterization
Smart cameras
Vehicles
Title Long Range Obstacle Detection Using Laser Scanner and Stereovision
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