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Object detection in cluttered, natural scenes has a high complexity since many local observations compete for object hypotheses. Voting methods provide an efficient solution to this problem. When Hough voting is extended to location and scale, votes naturally become lines through scale space due to the local scale-location-ambiguity. In contrast to this, current voting methods stick to the location-only...
An approach for the detection of straight and curved curbs (border of relevant traffic isles, sidewalks, etc) is presented, in the context of urban driving assistance systems. A rectangular elevation map is built from 3D dense stereo data. Edge detection is applied to the elevation map in order to highlight height variations. We propose a method to reduce significantly the 3D noise from dense stereo,...
An improved approach for the detection of curbs (border of relevant traffic isles, sidewalks, etc) is presented, in the context of urban driving assistance systems. A rectangular elevation map is built from 3D dense stereo data. Edge detection is applied to the elevation map in order to highlight height variations. Temporal filtering is performed for edge points, based on the ego car motion, and only...
A new approach for the detection of curbs (borders of relevant traffic isles, sidewalks, etc) is presented, in the context of urban driving assistance systems. The 3D data from dense stereo is transformed into a rectangular elevation map. The 3D resolution and uncertainty of the stereo sensor are evaluated and used in the detection process. Edge detection is applied on the elevation map in order to...
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