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Uwe Franke, Clemens Rabe, Stefan Gehrig
Collision Avoidance based on Space-Time Image Analysis
Keywords: autonomous vehicles, 3D/stereo scene analysis, depth cues, object recognition, computer vision
More than one third of all traffic accidents with injuries occur in urban areas, especially at intersections. A suitable driver assistance system for such complex situations requires the understanding of the scene, in particular a reliable detection of other moving traffic participants. This contribution shows how a robust and fast detection of relevant moving objects is obtained by a smart combination of stereo vision and motion analysis. This approach, called 6D Vision, estimates location and motion of pixels simultaneously which enables a detection of moving objects on a pixel level. Using a Kalman Filter, the algorithm propagates the current interpretation to the next image. Hence a real-time implementation is achieved. Examples of critical situations in urban areas exhibit the potential of the 6D Vision concept which can also be extended to robotics applications.
it – Information Technology (vormals it+ti), Oldenbourg Wissenschaftsverlag
Print ISSN: 1611-2776
Volume: 49, 01/2007
Pages: 25 - 32