TY  - JOUR
PY  - 2014//
TI  - Proposition of generic validation criteria using stereo-vision for on-road obstacle detection
JO  - International journal of robotics and automation (Calgary)
A1  - Labayrade, Raphaël
A1  - Perrollaz, Mathias
A1  - Gruyer, Dominique
A1  - Lambert, Alain
A1  - Aubert, Didier
SP  - 65
EP  - 87
VL  - 29
IS  - 1
N2  - Real-time obstacle detection is an essential function for the future of Advanced Driver Assistance Systems (ADAS), but its applications to the driving safety require a very high reliability: the detection rate must be high, while the false detection rate must remain extremely low. Such features seem antinomic for obstacle detection systems, especially when using a single sensor. Multi-sensor fusion is often considered as a mean to reduce this limitation. In this paper, we propose to use stereo-vision as a post-process to improve the reliability of any obstacle detection system, by reducing the number of false positives. Our algorithm, which is both generic and real-time confirms detections by locally using the stereoscopic data. We evaluated and validated our approach with an initial detection based on a vision system and a laser scanner. The evaluation dataset is real on-road data and contains more than 20000 images.<p />  <p>Language: en</p>
LA  - en
SN  - 0826-8185
UR  - http://dx.doi.org/10.2316/Journal.206.2014.1.206-3765
ID  - ref1
ER  -