Authors:
Andrei Vatavu
;
Sergiu Nedevschi
and
Florin Oniga
Affiliation:
Technical University of Cluj-Napoca, Romania
Keyword(s):
Contour Tracing, Environment Representation, Border Scanning, Environment Perception, Polyline Extraction, Object Delimiters.
Related
Ontology
Subjects/Areas/Topics:
Image Processing
;
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Vehicle Control Applications
;
Vision, Recognition and Reconstruction
Abstract:
The environment representation is essential for driving assistance. However, the performances achieved in complex environments are still unsatisfactory regarding the accuracy, confidence and real time capabilities. This paper presents a real-time 2.5D environment representation model, for driving scenarios, based on object delimiters extraction from a 3D occupancy grid obtained from dense stereo. We propose two approaches to extract the polyline delimiters: an improved contour tracing called 3A Tracing and a polyline extraction method through the occupancy grid radial scanning. The advantages and drawbacks for each of these methods have been discussed.