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This paper presents an approach for the robust recognition of a complex and dynamic driving environment, such as an urban area, using on-vehicle multilayer LIDAR. The multilayer LIDAR alleviates the consequences of occlusion by vertical scanning; it can detect objects with different heights simultaneously, and therefore the influence of occlusion can be curbed. The road environment recognition algorithm...
In advanced driving assistance systems, it is important to be able to detect the region covered by the road in the images. This paper proposes a method for estimating the road region in images captured by a vehicle-mounted monocular camera. Our proposed method first estimates all of relevant parameters for the camera motion and the 3D road plane from correspondence points between successive images...
This paper proposes a method for estimating the ego-motion of the vehicle and for detecting moving objects on roads by using a vehicle mounted monocular camera. There are two problems in ego-motion estimation. Firstly, a typical road scene contains moving objects such as other vehicles. Secondly, roads display fewer feature points compared to the number associated with background structures. In our...
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