Clemens Rabe, Christoph Volmer, Uwe FrankeAbstractThis paper presents a system for
monocular obstacle and lane boundary detection running in real-time. A
Kalman Filter based depth from motion algorithm is used for the
reconstruction of the three-dimensional scene. Using multiple filters in
parallel the rate of convergence is significantly higher than in direct
methods, especially if the vehicle drives slowly. In addition a pitch
correction is introduced which improves the overall estimation in
typical road scenarios. Real world examples illustrate the results of
the proposed system. [Download] [View] [BibTeX] |
Publications > 2005 >