Selected
Readings in Vision and Graphics
edited by Luc Van Gool, Gábor
Székely, Markus Gross, Bernt Schiele
Volume 57
Andreas Ess
Visual Urban Scene Analysis by Moving Platforms
2009.
XII, 240 pages. EUR 64,00. ISBN-10: 3-86628-293-1
ISBN-13:
978-3-86628-293-3
In recent years, interest in mobile robots and intelligent vehicles that
are able to act autonomously in scenarios of daily human living has been
increasing constantly. Due to their relatively low price and similarity to
human vision, cameras are an especially intriguing sensor for such tasks.
This book presents a purely vision-based system for the tasks of
self-localization, scene analysis, and object tracking in semi-crowded urban
environments, with a mobile platform as observer. To this end, several basic
components are developed and integrated robustly. Taking this system as a basic
component, its use for creating dynamic occupancy maps for path planning, for
performing articulated multi-body tracking, and for improved pedestrian motion
models inspired by social simulations is explored. Furthermore, a method for
segmentation-based analysis of a traffic scene is proposed, which can infer the
road type ahead of the observer as well as the presence of various object
classes.
Experiments on challenging urban data corroborate the claim that
sensor-related a majority of robotic tasks in daytime navigation and object
tracking can be performed using vision only instead of using often considerably
more expensive sensor arrays.
About the author:
Andreas Ess obtained his M.Sc. degree from ETH Zurich in 2005. From 2005 to 2009, he
was research assistant and Ph.D. student at the Computer Vision Laboratory at
ETH Zurich, with Prof. Luc Van Gool. He received his Ph.D. in Computer Science
(Dr. sc. ETH Zurich) from ETH Zurich for his work on vision-based analysis of
urban scenarios from moving platforms.
Keywords /
Schlagwörter: object detection, object tracking, scene
analysis, urban environments, moving platforms, stereo camera, motion models
Reihe
" Selected Readings in Vision and Graphics " im Hartung-Gorre
Verlag
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