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ICRA
2009
IEEE

Moving obstacle detection in highly dynamic scenes

8 years 10 months ago
Moving obstacle detection in highly dynamic scenes
Abstract— We address the problem of vision-based multiperson tracking in busy pedestrian zones using a stereo rig mounted on a mobile platform. Specifically, we are interested in the application of such a system for supporting path planning algorithms in the avoidance of dynamic obstacles. The complexity of the problem calls for an integrated solution, which extracts as much visual information as possible and combines it through cognitive feedback. We propose such an approach, which jointly estimates camera position, stereo depth, object detections, and trajectories based only on visual information. The interplay between these components is represented in a graphical model. For each frame, we first estimate the ground surface together with a set of object detections. Based on these results, we then address object interactions and estimate trajectories. Finally, we employ the tracking results to predict future motion for dynamic objects and fuse this information with a static occupa...
Andreas Ess, Bastian Leibe, Konrad Schindler, Luc
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Andreas Ess, Bastian Leibe, Konrad Schindler, Luc J. Van Gool
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