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This paper describes an approach to generate a dense disparity map between the stereo pairs using the multilayer superpixel with the different size. We assume the pixels within superpixel belong to the same 3D surface. The pixel-wise matching costs are computed with census and gradient features. Then, the input stereo images are segmented into M layers superpixel. SLIC algorithm is used to obtain...
This paper proposes a coarse-to-fine approach for fast image tracking. The tracking method is built based on correlation tracker which employs online learning and fast detection by utilizing Fourier transform principles. Firstly, a small patch is extracted from a region near the tracked pixel. This patch is divided into a number of cells and then features are extracted from each cell, providing a...
In this paper a road environment recognition method for intelligent vehicle systems is introduced. This is done in order to increase safety since road environment is a complex problem. We introduce the ongoing results of our obstacle classification based on sensor merging using camera and laser range finder sensors. Firstly, a laser-camera calibration is performed. Secondly, objects are extracted...
This paper describes the approach for detecting the building facade using geometric constrain. A planar building facade is only considered. Most of the building facade has the form of a rectangle, which is produced by two or more vertical and horizontal lines, which are orthogonal to each other on the building. The parallel lines in the 3D space are projected onto lines in the image plane that are...
In the field of intelligent vehicle systems (IVS), color and edge of lane markings are important features for vision-based applications. This paper proposes a method to detect lane marking based on a fusion approach which combine color and edge lane marking information. Firstly, by knowing the vehicle speed the road surface region of interest is extracted using the typical stopping distance. Secondly,...
This paper describes an approach to detect the building based on facet for urban reconstruction. The urban environment is composed of a variety objects. In particular, the building has a rich geometric structure. It consists of two or more facets. Each facet is presented with a quadrangle in the image. A quadrangle is produced by two or more vertical and horizontal lines. There are many lines which...
This paper introduces the real-time flash flood detection method for stationary surveillance cameras. It can be applied for rural and urban areas and capable of working during day time. The background subtraction was used to detect all changes appear in a scene. After this step, many pixel belonging to the same moving objects may be divided. They are united by morphological closing. Too small separate...
The safety plays the most important role for both pedestrian and driver in autonomous, semi-autonomous or non-autonomous vehicle. To improve pedestrian safety, this paper presents a new type of laser feature extraction methods for crosswalk marking through Laser Measurement System (LMS). The crosswalk detection is achieved in three stages as follows: Lane Surface Identification (LSI), Lane Marking...
When moving towards fully autonomous navigation, safety plays the most important role for both pedestrian and driver. This paper proposes a method to estimate the lane road region of interest based on the stopping typical distance of a vehicle required by the current speed of the vehicle. This was achieved by taking advantage of the difference in color of the road surface given by the lane marking...
For autonomous navigation the real-time processing is crucial. This paper proposes a method to detect the lane markings in real-time using the advantage of parallel processing. A region of interest is constrained by the current velocity of a vehicle. The segmentation was achieved by utilizing a difference in color between lane marking and road pavement. The overall process is divided into three steps...
Towards safe autonomous vehicle navigation the problem of lane detection and classification is highly important in the development of advanced driver assistance system (ADAS). This paper proposes a new method to detect the road lane marking for safe autonomous navigation purpose. It focuses on unconventional methods of identifying lane markings on a road surface through Laser Measurement System (LMS)...
Towards autonomous vehicle navigation the problem of guidance is a major difficulty faced by fully autonomous vehicle. This paper proposes a new method to estimate the heading angle for safe autonomous navigation purpose. The authors focus on unconventional methods of identifying lane markings on a road surface through Laser Measurement System (LMS). This was achieved by taking advantage of the reflection...
This paper proposes a solution for road curvature estimation. This information is relevant for the task of autonomous navigation. The proposed method is based on the Inverse Perspective Mapping (IPM) which gets rid of perspective distortion. From the IPM with multi scale lane markers appear as the parallel lines. Then, the lane markers are detected by using color segmentation, Hough transform and...
This paper presents and implements a low power receiver for medical implantable communication system (MICS) using delay locked loop (DLL). Compared to current existing transceivers for MICS that use phase locked loop (PLL), the DLL offers the advantage of power consumption at the 402–406 MHz band. This work implemented a DLL with two channels, two mixers for switching channels, and a low noise amplifier...
This paper presents two contributions for the path planning for motion, and convergent global trajectory tracking, which assistance to autonomous vehicle. The path planning for motion is processed by two stages: road network detection and the shortest path estimation for vehicle motion. A road network is detected using the road map images based on image-processing techniques such color filter, segmentation...
Nowadays, motion estimation systems have been applied in many researches on robotics, autonomous navigation, intelligent transportation systems, and industry applications. This paper presents a method for motion estimation based on an optimal approach using the angular back-projection error as a criterion for evaluating. The advantage of an omnidirectional camera is that allows tracking landmarks...
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