Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Clustering of Stereo Matching Data for Vehicle Segmentation

차량분리를 위한 스테레오매칭 데이터의 클러스터링

  • 이기용 (전남대학교 산업공학과(시스템자동화 연구소)) ;
  • 이준웅 (전남대학교 산업공학과(시스템자동화 연구소))
  • Received : 2010.01.12
  • Accepted : 2010.06.22
  • Published : 2010.08.01
Download PDF
⟨ Previous Next ⟩

Abstract

To segment instances of vehicle classes in a sparse stereo-matching data set, this paper presents an algorithm for clustering based on DP (Dynamic Programming). The algorithm is agglomerative: it begins with each element in the set as a separate cluster and merges them into successively larger clusters according to similarity of two clusters. Here, similarity is formulated as a cost function of DP. The proposed algorithm is proven to be effective by experiments performed on various images acquired by a moving vehicle.

Keywords

References

  1. R. Labayrade, D. Aubert, and J. Tarel, “Real time obstacle detection in stereovision on non flat road geometry through vdisparity representation”, Proc. IEEE Intelligent Vehicle Symposium, 2002.
  2. S. Nedevschi, R. Danescu, D. Frentiu, T. Marita, F. Oniga, C. Pocol, R. Schmidt, and T. Graf, “High accuracy stereo vision system for far distance obstacle detection”, Proc. IEEE Intelligent Vehicle Symposium, pp. 14-17, 2004.
  3. K.Y. Lee and J.W. Lee, “Detection of road obstacle using a dynamic programming for remapped stereo images to a topview”, Proc. IEEE Intelligent Vehicle Symposium, pp. 765-770, 2005. https://doi.org/10.1109/IVS.2005.1505197
  4. Y. Ohta and T. Kanade, “Stereo by intra- and inter- scanline search using dynamic programming”, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 7, no. 2, pp. 139-154, 1985. https://doi.org/10.1109/TPAMI.1985.4767639
  5. O. Faugeras, Three-dimensional computer vision – a geometric viewpoint, The MIT Press, 1993.
  6. R. O. Duda, P. E. Hart and D. G. Stork, Pattern Classification, Wiley Interscience, 2001.
  7. K. Y. Lee and J. W. Lee, “Generic obstacle detection on roads by dynamic programming and remapping of stereo images to a virtual top-view,” Journal of Control, Automation and Systems Engineering, vol. 11, no. 5, pp. 418-422, 2005.
  8. F. S. Hillier, Introduction to Operations Research, McGraw-Hill, 2006.