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DETECTION OF FREE SPACE/OBSTACLES IN FRONT OF THE EGO CAR USING STEREO CAMERA IN URBAN SCENES

BHARAMGOUDAR, SUNIL (2016) DETECTION OF FREE SPACE/OBSTACLES IN FRONT OF THE EGO CAR USING STEREO CAMERA IN URBAN SCENES. Master's, Tampere University of Technology.

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Abstract

Transportation is one of the most important needs of a modern human being. It sustains (either directly or indirectly) the basic human needs such as food, education and his livelihood. Humans spend considerable amount of time in transit. Transportation is also not without its dangers. An estimated 1.25 million people died in the year 2013 in road traffic accidents1. With the advancements in electronics, smarter and faster sensors can help reduce some of these road traffic accidents. Detection of an obstacle is an essential aspect in avoiding collisions. The aim of this thesis report is to address the challenge of road surface detection. The thesis work begins with the implementation of the v-disparity road surface estimations and proposing certain variations that offer subtle advantages. Additionally the free space estimations through 3D occupancy grid maps (OGM) have also been implemented. A novel extended u-disparity OGM is proposed that has certain advantages to the standard OGMs. All these road surface detection algorithms are evaluated with the training datasets prepared by Karlsruhe Institute of Technology.

Item URL in elib:https://elib.dlr.de/112762/
Document Type:Thesis (Master's)
Title:DETECTION OF FREE SPACE/OBSTACLES IN FRONT OF THE EGO CAR USING STEREO CAMERA IN URBAN SCENES
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
BHARAMGOUDAR, SUNILTampere University of TechnologyUNSPECIFIED
Date:May 2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:81
Status:Published
Keywords:ADAS, image processing, ground surface detection
Institution:Tampere University of Technology
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrzeugintelligenz (old)
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems
Deposited By: Pekezou Fouopi, Paulin
Deposited On:26 Jun 2017 07:49
Last Modified:31 Jul 2019 20:10

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