scholarly journals Surrounding Moving Obstacle Detection for Autonomous Driving Using Stereo Vision

10.5772/56603 ◽  
2013 ◽  
Vol 10 (6) ◽  
pp. 261 ◽  
Author(s):  
Hao Sun ◽  
Huanxin Zou ◽  
Shilin Zhou ◽  
Cheng Wang ◽  
Naser El-Sheimy
Keyword(s):  
Stereo Vision ◽  
Autonomous Driving ◽  
Obstacle Detection ◽  
Moving Obstacle

PROPOSITION OF GENERIC VALIDATION CRITERIA USING STEREO-VISION FOR ON-ROAD OBSTACLE DETECTION

2014 ◽  
Vol 29 (1) ◽  
Author(s):  
Mathias Perrollaz ◽  
Raphael Labayrade ◽  
Dominique Gruyer ◽  
Alain Lambert ◽  
Didier Aubert
Keyword(s):  
Stereo Vision ◽  
Obstacle Detection ◽  
Validation Criteria

OBSTACLE DETECTION USING STEREO VISION TO ENHANCE SAFETY OF AUTONOMOUS MACHINES

2005 ◽  
Vol 48 (6) ◽  
pp. 2389-2397 ◽  
Author(s):  
Wei ◽  
F. Rovira-Mas ◽  
J. F. Reid ◽  
S. Han
Keyword(s):  
Stereo Vision ◽  
Obstacle Detection ◽  
Autonomous Machines

scholarly journals Virtual Reality Based Multi-Modal Teleoperation Using Mixed Autonomy

2008 ◽  
Author(s):  
Muthukkumar S. Kadavasal ◽  
Abhishek Seth ◽  
James H. Oliver
Keyword(s):  
Virtual Reality ◽  
Stereo Vision ◽  
Vision System ◽  
Tracking System ◽  
A Priori ◽  
Obstacle Detection ◽  
Remotely Operated Vehicle ◽  
Autonomous Operation ◽  
Control Interface ◽  
Video Feed

A multi modal teleoperation interface is introduced featuring an integrated virtual reality based simulation augmented by sensors and image processing capabilities on-board the remotely operated vehicle. The proposed virtual reality interface fuses an existing VR model with live video feed and prediction states, thereby creating a multi modal control interface. Virtual reality addresses the typical limitations of video-based teleoperation caused by signal lag and limited field of view thereby allowing the operator to navigate in a continuous fashion. The vehicle incorporates an on-board computer and a stereo vision system to facilitate obstacle detection. A vehicle adaptation system with a priori risk maps and real state tracking system enables temporary autonomous operation of the vehicle for local navigation around obstacles and automatic re-establishment of the vehicle’s teleoperated state. As both the vehicle and the operator share absolute autonomy in stages, the operation is referred to as mixed autonomous. Finally, the system provides real time update of the virtual environment based on anomalies encountered by the vehicle. The system effectively balances the autonomy between human and on board vehicle intelligence. The stereo vision based obstacle avoidance system is initially implemented on video based teleoperation architecture and experimental results are presented. The VR based multi modal teleoperation interface is expected to be more adaptable and intuitive when compared to other interfaces.

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