Abstract
In this paper we present and evaluate several methods for real-time environment representation by extracting object delimiters from the traffic scenes using a Dense Stereovision System. The delimiters detection is based on processing the information provided by a 3D classified occupancy grid obtained from the raw dense stereo information. One of the problems in representing the environment through the occupancy grid is a large volume of data. Therefore we propose a more compact 2.5D model by representing the environment as a set of polylines with associated features. Two approaches to extract object delimiters are presented: an improved contour tracing called 3A Tracing and a polyline extraction method through the radial scanning of the occupancy grid. We discuss the advantages and drawbacks for each of these methods.
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Vatavu, A., Nedevschi, S., Oniga, F. (2011). Real Time Environment Representation in Driving Scenarios Based on Object Delimiters Extraction. In: Cetto, J.A., Filipe, J., Ferrier, JL. (eds) Informatics in Control Automation and Robotics. Lecture Notes in Electrical Engineering, vol 85. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19730-7_18
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DOI: https://doi.org/10.1007/978-3-642-19730-7_18
Publisher Name: Springer, Berlin, Heidelberg
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