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Joint Pattern Recognition Symposium

DAGM 2005: Pattern Recognition pp 216–223Cite as

6D-Vision: Fusion of Stereo and Motion for Robust Environment Perception

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Part of the Lecture Notes in Computer Science book series (LNIP,volume 3663)

Abstract

Obstacle avoidance is one of the most important challenges for mobile robots as well as future vision based driver assistance systems. This task requires a precise extraction of depth and the robust and fast detection of moving objects. In order to reach these goals, this paper considers vision as a process in space and time. It presents a powerful fusion of depth and motion information for image sequences taken from a moving observer. 3D-position and 3D-motion for a large number of image points are estimated simultaneously by means of Kalman-Filters. There is no need of prior error-prone segmentation. Thus, one gets a rich 6D representation that allows the detection of moving obstacles even in the presence of partial occlusion of foreground or background.

Keywords

  • Kalman Filter
  • Image Point
  • Obstacle Avoidance
  • Stereo Vision
  • Inertial Sensor

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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  • DOI: 10.1007/11550518_27
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References

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Author information

Authors and Affiliations

  1. DaimlerChrysler AG, 70546, Stuttgart, Germany

    Uwe Franke, Clemens Rabe, Hernán Badino & Stefan Gehrig

Authors
  1. Uwe Franke
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  2. Clemens Rabe
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  3. Hernán Badino
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  4. Stefan Gehrig
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Editor information

Editors and Affiliations

  1. PRIP, Vienna University of Technology, Austria

    Walter G. Kropatsch

  2. Vienna University of Technology, Vienna, Austria

    Robert Sablatnig

  3. Pattern Recognition and Image Processing Group, Institute of Computer-Aided Automation, Vienna University of Technology, Favoritenstraße 9/1832, A-1040, Vienna, Austria

    Allan Hanbury

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© 2005 Springer-Verlag Berlin Heidelberg

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Franke, U., Rabe, C., Badino, H., Gehrig, S. (2005). 6D-Vision: Fusion of Stereo and Motion for Robust Environment Perception. In: Kropatsch, W.G., Sablatnig, R., Hanbury, A. (eds) Pattern Recognition. DAGM 2005. Lecture Notes in Computer Science, vol 3663. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11550518_27

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  • DOI: https://doi.org/10.1007/11550518_27

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-28703-2

  • Online ISBN: 978-3-540-31942-9

  • eBook Packages: Computer ScienceComputer Science (R0)