Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

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B. Kormann, A. Neve, G. Klinker, W. Stechele
Stereo Vision Based Vehicle Detections
VISIGRAPP 2010: International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications; Angers, France, May 17-21, 2010, pp. 431-438. (bib)

This paper describes a vehicle detection method using 3D data derived from a disparity map available in real-time. The integration of a flat road model reduces the search space in all dimensions. Inclination changes are considered for the road model update. The vehicles, modeled as a cuboid, are detected in an iterative refinement process for hypotheses generation on the 3D data. The detection of a vehicle is performed by a mean-shift clustering of plane filtered segments potentially belonging together in a first step. In the second step a u/v-disparity approach generates vehicle hypotheses covering differently appearing vehicles. The system was evaluated in real-traffic-scenes using a GPS system.
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