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The focus of this contribution is the detection of moving objects and the classification of their motion as rigid or non-rigid. A new processing approach for analyzing video data of a moving monocular camera is introduced. It is mainly based on the evaluation of the optical flow in two different processing steps: detection and classification. First, the ego motion is evaluated in order to separate...
This paper presents a new approach for pedestrian detection in the vehicle environment using stereo vision. The segmented pedestrians, represented as a set of equal disparity attributed segments, are refined using B-spline arithmetic. These segments are obtained from a non-dense disparity map. The disparity map is estimated using a new developed algorithm relying on the contour-following algorithm...
In this contribution a real time capable pedestrian recognition system is presented. The AdaBoost based cascade approach is applied and enhanced. A special implementation of the feature extraction algorithms yields to a remarkable increasing of the computation efficiency. Furthermore the AdaBoost classifier uses decision trees as basic classifiers (weak learner). Therefore, the computational costs...
The objective of the proposed algorithm is to identify unobstructed space in front of a moving passenger car by means of a single monochrome camera. The approach is divided into two principal parts. First a model based road border recognition with focus on a sophisticated image feature extraction was developed to deal with different sources of distracting noise like bad lightning conditions, broken...
In this paper a multi sensor system for so called vulnerable road user recognition is presented, developed within an EU project for road safety improvement. The data fusion concept rests upon the sensors near infrared camera and wireless ranging devices, which are complemetary concerning their physical properties. By means of an object oriented approach using the Kalman Filter the introduced concept...
We present an approach for parking slot detection using a 3D Range camera of PMD type. This sensor allows referring to a large number of spatial point measurements detailed representing cuts of the observed scene. The focus of this paper is on the feature extraction out of the PMD data as well as the fusion of the features defining the free space of a parking slot. The feature extraction includes...
This paper addresses the detection and tracking of road borders in non cooperative environments. A 2-dimensional scanning LIDAR is used to improve the reliability of the FIR camera based road border recognition. In order to detect the road boarders we apply a Kalman-filter based model fitting strategy. Extracted measurements of the FIR images are transformed into the vehicle coordinate system in order...
This paper presents a 3D-camera system and appropriate algorithms for the image processing to provide pedestrian recognition. According to international legislative proposals the automotive industry is forced to take action in the area of protecting vulnerable road users. The presented photonic mixer device (PMD) sensor system is able to fulfil specific requirements of a pedestrian protection assistant...
This article presents the results of a detailed investigation of motion-based recognition of pedestrians. Here, the influence of the ego motion and its compensation in view of the recognition performance play a central role. Therefore, two basic approaches for the estimation of the object movement are specified, tested and evaluated. Moreover, different features for the generation of the time series...
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