Surrounding Moving Obstacle Detection for Autonomous Driving Using Stereo Vision

International Journal of Advanced Robotic Systems

关键词: Moving Obstacle Detection;    Autonomous Driving;    Multiple View Geometry;    Particle Filter;   

DOI  :  10.5772/56603

学科分类：自动化工程

来源: InTech

【 摘 要 】

Detection and tracking surrounding moving obstacles such as vehicles and pedestrians are crucial for the safety of mobile robotics and autonomous vehicles. This is especially the case in urban driving scenarios. This paper presents a novel framework for surrounding moving obstacles detection using binocular stereo vision. The contributions of our work are threefold. Firstly, a multiview feature matching scheme is presented for simultaneous stereo correspondence and motion correspondence searching. Secondly, the multiview geometry constraint derived from the relative camera positions in pairs of consecutive stereo views is exploited for surrounding moving obstacles detection. Thirdly, an adaptive particle filter is proposed for tracking of multiple moving obstacles in surrounding areas. Experimental results from real-world driving sequences demonstrate the effectiveness and robustness of the proposed framework.

【 授权许可】

CC BY