Obstacle detection and localization method ...
Document type :
Autre communication scientifique (congrès sans actes - poster - séminaire...): Communication dans un congrès avec actes
Title :
Obstacle detection and localization method based on 3D model: distance validation with Ladar
Author(s) :
Cappelle, Cindy [Auteur]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
El Badaoui El Najjar, Maan [Auteur]
Systèmes Tolérants aux Fautes [STF]
Autonomous intelligent machine [MAIA]
Charpillet, François [Auteur]
Autonomous intelligent machine [MAIA]
Pomorski, Denis [Auteur]
Systèmes Tolérants aux Fautes [STF]
Laboratoire d'Automatique, Génie Informatique et Signal [LAGIS]
El Badaoui El Najjar, Maan [Auteur]

Systèmes Tolérants aux Fautes [STF]
Autonomous intelligent machine [MAIA]
Charpillet, François [Auteur]
Autonomous intelligent machine [MAIA]
Pomorski, Denis [Auteur]

Systèmes Tolérants aux Fautes [STF]
Conference title :
IEEE International Conference on Robotics and Automation - ICRA'08
City :
Pasadena
Country :
Etats-Unis d'Amérique
Start date of the conference :
2008-05-19
Publication date :
2008
HAL domain(s) :
Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Automatique
Informatique [cs]/Automatique
English abstract : [en]
This paper presents a method for the detection and the geo-localization of obstacle in outdoor environment. The proposed approach exploits a geographical 3D model managed by a 3D Geographical Information System (3D-GIS) ...
Show more >This paper presents a method for the detection and the geo-localization of obstacle in outdoor environment. The proposed approach exploits a geographical 3D model managed by a 3D Geographical Information System (3D-GIS) and a video camera. An image processing module is developed to match synchronized real image and virtual image. The real image is provided by an on-board camera and gives the real view of the scene seen by the vehicle whereas the virtual image is provided by the 3D-GIS. A centimetric LRK GPS provides an estimation of the geo-position of the vehicle, which is used to localized the vehicle in the geographical 3D model. Obstacle(s) are then detected and tracked by comparison between the real image that contain the obstacle(s) and the virtual image where obstacle(s) are absent. The developed method permits also to compute the distance between the camera and obstacle(s), as well as the geo-position of these detected obstacles. In order to validate the computed distance, a 2D ladar (laser range scanner) is used. A necessary condition to complete the comparison is to calibrate the camera and the ladar together. Experimental results with real data are presented in the final section.Show less >
Show more >This paper presents a method for the detection and the geo-localization of obstacle in outdoor environment. The proposed approach exploits a geographical 3D model managed by a 3D Geographical Information System (3D-GIS) and a video camera. An image processing module is developed to match synchronized real image and virtual image. The real image is provided by an on-board camera and gives the real view of the scene seen by the vehicle whereas the virtual image is provided by the 3D-GIS. A centimetric LRK GPS provides an estimation of the geo-position of the vehicle, which is used to localized the vehicle in the geographical 3D model. Obstacle(s) are then detected and tracked by comparison between the real image that contain the obstacle(s) and the virtual image where obstacle(s) are absent. The developed method permits also to compute the distance between the camera and obstacle(s), as well as the geo-position of these detected obstacles. In order to validate the computed distance, a 2D ladar (laser range scanner) is used. A necessary condition to complete the comparison is to calibrate the camera and the ladar together. Experimental results with real data are presented in the final section.Show less >
Language :
Anglais
Peer reviewed article :
Oui
Audience :
Internationale
Popular science :
Non
Comment :
ISBN : 978-1-4244-1646-2
Collections :
Source :