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231223s1998 xx |||||o 00| ||eng c |
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|a 10.1109/83.650851
|2 doi
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|a eng
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| 100 |
1 |
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|a Bertozzi, M
|e verfasserin
|4 aut
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| 245 |
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|a GOLD
|b a parallel real-time stereo vision system for generic obstacle and lane detection
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|c 1998
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|a Text
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|2 rdacontent
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|a ƒaComputermedien
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|2 rdamedia
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|a ƒa Online-Ressource
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|a Date Completed 15.12.2009
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|a Date Revised 12.02.2008
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|a published: Print
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|a Citation Status PubMed-not-MEDLINE
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|a This paper describes the generic obstacle and lane detection system (GOLD), a stereo vision-based hardware and software architecture to be used on moving vehicles to increment road safety. Based on a full-custom massively parallel hardware, it allows to detect both generic obstacles (without constraints on symmetry or shape) and the lane position in a structured environment (with painted lane markings) at a rate of 10 Hz. Thanks to a geometrical transform supported by a specific hardware module, the perspective effect is removed from both left and right stereo images; the left is used to detect lane markings with a series of morphological filters, while both remapped stereo images are used for the detection of free-space in front of the vehicle. The output of the processing is displayed on both an on-board monitor and a control-panel to give visual feedbacks to the driver. The system was tested on the mobile laboratory (MOB-LAB) experimental land vehicle, which was driven for more than 3000 km along extra-urban roads and freeways at speeds up to 80 km/h, and demonstrated its robustness with respect to shadows and changing illumination conditions, different road textures, and vehicle movement
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|a Broggi, A
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|t IEEE transactions on image processing : a publication of the IEEE Signal Processing Society
|d 1992
|g 7(1998), 1 vom: 28., Seite 62-81
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|u http://dx.doi.org/10.1109/83.650851
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