Stereo-based Free Space Computation in Complex Traffic Scenarios

Badino, Hernan; Vaudrey, Tobi; Franke, Uwe; Mester, Rudolf

dc.contributor.author	Badino, Hernan	en
dc.contributor.author	Vaudrey, Tobi	en
dc.contributor.author	Franke, Uwe	en
dc.contributor.author	Mester, Rudolf	en
dc.date.accessioned	2008-12-10T01:01:07Z	en
dc.date.available	2008-12-10T01:01:07Z	en
dc.date.issued	2008	en
dc.identifier.citation	Multimedia Imaging Report 6 (2008)	en
dc.identifier.issn	1178-5789	en
dc.identifier.uri	http://hdl.handle.net/2292/3211	en
dc.description	You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original MI_tech website http://www.mi.auckland.ac.nz/index.php?option=com_content&view=article&id=91&Itemid=76 . All other rights are reserved by the author(s).	en
dc.description.abstract	This paper presents a method for the computation of free space in complex traffic scenarios. Dynamic depth information is estimated by integrating stereo disparity images over time. Disparity and disparity speed are computed pixelwise with Kalman filters. The stereo information is used to compute stochastic occupancy grids. Dynamic programming on a polar-like occupancy grid yield the free space. Analysis of the calculated free space allows the detection of the available free corridor in front of the ego-vehicle. The method runs at a frame rate of 20 Hz in our demonstrator vehicle.	en
dc.publisher	Computer Science Department, The University of Auckland, New Zealand	en
dc.relation.ispartofseries	MI-tech Report Series	en
dc.rights	Copyright CITR, The University of Auckland. You are granted permission for the non-commercial reproduction, distribution, display, and performance of this technical report in any format, BUT this permission is only for a period of 45 (forty-five) days from the most recent time that you verified that this technical report is still available from the original CITR web site under terms that include this permission. All other rights are reserved by the author(s).	en
dc.rights.uri	https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm	en
dc.source.uri	http://www.mi.auckland.ac.nz/tech-reports/MItech-TR-6.pdf	en
dc.title	Stereo-based Free Space Computation in Complex Traffic Scenarios	en
dc.type	Technical Report	en
dc.subject.marsden	Fields of Research::280000 Information, Computing and Communication Sciences	en
dc.rights.accessrights	http://purl.org/eprint/accessRights/OpenAccess	en