Car Detection on a Mobile Robot by Fusing Visual and {3D} Lidar Data

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00211788" target="_blank" >RIV/68407700:21230/12:00211788 - isvavai.cz</a>
Result on the web
<a href="http://cmp.felk.cvut.cz/pub/cmp/articles/svoboda/Derner-TR-2012-10.pdf" target="_blank" >http://cmp.felk.cvut.cz/pub/cmp/articles/svoboda/Derner-TR-2012-10.pdf</a>
DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Car Detection on a Mobile Robot by Fusing Visual and {3D} Lidar Data
Original language description
In this work, we focus on the combination of visual and depth data in object detection. We propose an algorithm for object detection using a sliding window technique and a Bayesian-like classifier based on random ferns with Haar features. We test the algorithm on the car detection problem using a mobile robot for urban search and rescue equipped with a camera and a 3D lidar. The detector finds cars in a scene and estimates their approximate orientation. We show that the fusion of the visual images and the 3D data significantly improves the detection performance in comparison with utilizing only the visual data. The detector is able to overcome poor data quality from one of the sensors in harsh conditions.
Czech name
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Czech description
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Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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