FR2959851A1 - Disparity card repairing method for motor vehicle, involves evaluating confidence index for processing by repairing plane surfaces, and selecting processing with high confidence index to process evaluated spot - Google Patents

Disparity card repairing method for motor vehicle, involves evaluating confidence index for processing by repairing plane surfaces, and selecting processing with high confidence index to process evaluated spot Download PDF

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Publication number
FR2959851A1
FR2959851A1 FR1001979A FR1001979A FR2959851A1 FR 2959851 A1 FR2959851 A1 FR 2959851A1 FR 1001979 A FR1001979 A FR 1001979A FR 1001979 A FR1001979 A FR 1001979A FR 2959851 A1 FR2959851 A1 FR 2959851A1
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France
Prior art keywords
processing
confidence index
spot
repairing
motor vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
FR1001979A
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French (fr)
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FR2959851B1 (en
Inventor
Christophe Vestri
Frederic Abad
Remy Bendahan
Sebastien Wybo
Dzmitry Tsishkou
Sylvain Bougnoux
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IMRA Europe SAS
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IMRA Europe SAS
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Priority to FR1001979A priority Critical patent/FR2959851B1/en
Publication of FR2959851A1 publication Critical patent/FR2959851A1/en
Application granted granted Critical
Publication of FR2959851B1 publication Critical patent/FR2959851B1/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The method involves evaluating a confidence index for processing by filling a spot, based on semantic information, and evaluating another confidence index for processing by repairing vertical/continuous surfaces and interpolation of disparity values along scanning lines within the spot. A third confidence index is evaluated for processing by repairing plane surfaces by extracting contours of the spot, and evaluation of presence of a plane within the spot. The processing with the high confidence index to process the evaluated spot is selected. An independent claim is also included for a method for detecting an obstacle.
FR1001979A 2010-05-07 2010-05-07 PROCESS FOR FILLING THE UNEQUARED REGIONS OF A DISPARITY CARD Expired - Fee Related FR2959851B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1001979A FR2959851B1 (en) 2010-05-07 2010-05-07 PROCESS FOR FILLING THE UNEQUARED REGIONS OF A DISPARITY CARD

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1001979A FR2959851B1 (en) 2010-05-07 2010-05-07 PROCESS FOR FILLING THE UNEQUARED REGIONS OF A DISPARITY CARD

Publications (2)

Publication Number Publication Date
FR2959851A1 true FR2959851A1 (en) 2011-11-11
FR2959851B1 FR2959851B1 (en) 2013-04-19

Family

ID=43242504

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1001979A Expired - Fee Related FR2959851B1 (en) 2010-05-07 2010-05-07 PROCESS FOR FILLING THE UNEQUARED REGIONS OF A DISPARITY CARD

Country Status (1)

Country Link
FR (1) FR2959851B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104112268A (en) * 2013-04-22 2014-10-22 株式会社理光 Sparse parallax image processing method, sparse parallax image processing device, object detection method, and object detection device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108563237B (en) * 2018-03-30 2021-03-23 北京润科通用技术有限公司 Collaborative obstacle avoidance method and device

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
BIRDAL, TOLGA AND ERÇIL, AYTÜL: "Real-time automated road, lane and car detection for autonomous driving", PROCEEDINGS OF DSPINCARS 2007, 17 June 2007 (2007-06-17), Istanbul, Turkey, XP002613905, Retrieved from the Internet <URL:http://research.sabanciuniv.edu/6693/1/tolga.pdf> [retrieved on 20101210] *
KALKAN S ET AL: "Depth prediction at homogeneous image structures", VISAPP 2008. THIRD INTERNATIONAL CONFERENCE ON COMPUTER VISION THEORY AND APPLICATIONS - 22-25 JAN. 2008 - MADEIRA, PORTUGAL,, 22 January 2008 (2008-01-22), pages 520 - 527, XP009142270 *
LABAYRADE R., AUBERT D.,: "In-Vehicle Obstacles Detection and Characterization by Stereovision", IEEE IN-VEHICLE COGNITIVE COMPUTER VISION SYSTEMS 2003, 3 April 2003 (2003-04-03), Graz, Austria, XP002613904, Retrieved from the Internet <URL:http://imagelab.ing.unimore.it/ivccvs/02_labayrade.pdf> [retrieved on 20101210] *
QIAN YU ET AL: "A Stereovision Method for Obstacle Detection and Tracking in Non-Flat Urban Environments", AUTONOMOUS ROBOTS, KLUWER ACADEMIC PUBLISHERS, BO, vol. 19, no. 2, 1 September 2005 (2005-09-01), pages 141 - 157, XP019204926, ISSN: 1573-7527, DOI: DOI:10.1007/S10514-005-0612-6 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104112268A (en) * 2013-04-22 2014-10-22 株式会社理光 Sparse parallax image processing method, sparse parallax image processing device, object detection method, and object detection device
EP2797033A1 (en) * 2013-04-22 2014-10-29 Ricoh Company, Ltd. Method and apparatus for processing sparse disparity map, and method and apparatus for detecting object
JP2014216016A (en) * 2013-04-22 2014-11-17 株式会社リコー Sparse disparity image processing method and apparatus, and object detection method and apparatus

Also Published As

Publication number Publication date
FR2959851B1 (en) 2013-04-19

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