3D Scene Priors for Road Detection

11 years 6 months ago
3D Scene Priors for Road Detection
Vision-based road detection is important in different areas of computer vision such as autonomous driving, car collision warning and pedestrian crossing detection. However, current vision-based road detection methods are usually based on low-level features and they assume structured roads, road homogeneity, and uniform lighting conditions. Therefore, in this paper, contextual 3D information is used in addition to low-level cues. Low-level photometric invariant cues are derived from the appearance of roads. Contextual cues used include horizon lines, vanishing points, 3D scene layout and 3D road stages. Moreover, temporal road cues are included. All these cues are sensitive to different imaging conditions and hence are considered as weak cues. Therefore, they are combined to improve the overall performance of the algorithm. To this end, the low-level, contextual and temporal cues are combined in a Bayesian framework to classify road sequences. Large scale experiments on ...
Jose M. Alvarez, Theo Gevers, Antonio M. Lopez
Added 05 Apr 2010
Updated 14 Aug 2010
Type Conference
Year 2010
Where CVPR
Authors Jose M. Alvarez, Theo Gevers, Antonio M. Lopez
Database information available upon request
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Xavier Boix PhD Student Centre Visio per Computador (Barcelona)

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