In this paper we propose a probabilistic approach for detecting and classifying urban road intersections from a moving vehicle. The approach is based on images from an onboard stereo rig; it relies on the detection of the road ground plane on one side, and on a pixel-level classification of the road on the other. The two processing pipelines are then integrated and the parameters of the road components, i.e., the intersection geometry, are inferred. As opposed to other state-of-the-art offline methods, which require processing of the whole video sequence, our approach integrates the image data by means of an online procedure. The experiments have been performed on well-known KITTI datasets, allowing for future comparisons.

Ballardini, A., Cattaneo, D., Fontana, S., Sorrenti, D. (2017). An online probabilistic road intersection detector. In Proceedings - IEEE International Conference on Robotics and Automation (pp.239-246). Institute of Electrical and Electronics Engineers Inc. [10.1109/ICRA.2017.7989030].

An online probabilistic road intersection detector

BALLARDINI, AUGUSTO LUIS
Primo
;
CATTANEO, DANIELE
Secondo
;
FONTANA, SIMONE
Penultimo
;
SORRENTI, DOMENICO GIORGIO
Ultimo
2017

Abstract

In this paper we propose a probabilistic approach for detecting and classifying urban road intersections from a moving vehicle. The approach is based on images from an onboard stereo rig; it relies on the detection of the road ground plane on one side, and on a pixel-level classification of the road on the other. The two processing pipelines are then integrated and the parameters of the road components, i.e., the intersection geometry, are inferred. As opposed to other state-of-the-art offline methods, which require processing of the whole video sequence, our approach integrates the image data by means of an online procedure. The experiments have been performed on well-known KITTI datasets, allowing for future comparisons.
No
slide + paper
Scientifica
Control and Systems Engineering; Software; Artificial Intelligence; Electrical and Electronic Engineering; autonomous driving; robotics; autonomous vehicles; road detection; classification; intersection
English
2017 IEEE International Conference on Robotics and Automation, ICRA 2017 May 29 to June 3
9781509046331
http://ieeexplore.ieee.org/document/7989030/
Ballardini, A., Cattaneo, D., Fontana, S., Sorrenti, D. (2017). An online probabilistic road intersection detector. In Proceedings - IEEE International Conference on Robotics and Automation (pp.239-246). Institute of Electrical and Electronics Engineers Inc. [10.1109/ICRA.2017.7989030].
Ballardini, A; Cattaneo, D; Fontana, S; Sorrenti, D
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10281/169372
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