Proceedings ArticleDOI
Integrating LIDAR into Stereo for Fast and Improved Disparity Computation
Hern´n Badino,Daniel Huber,Takeo Kanade +2 more
- pp 405-412
TLDR
This paper proposes to integrate LIDAR data directly into the stereo algorithm to reduce false positives while increasing the density of the resulting disparity image on textureless regions, and demonstrates with extensive experimental results that the disparity estimation is substantially improved while speeding up the stereo computation.Abstract:
The fusion of stereo and laser range finders (LIDARs) has been proposed as a method to compensate for each individual sensor's deficiencies - stereo output is dense, but noisy for large distances, while LIDAR is more accurate, but sparse. However, stereo usually performs poorly on textureless areas and on scenes containing repetitive structures, and the subsequent fusion with LIDAR leads to a degraded estimation of the 3D structure. In this paper, we propose to integrate LIDAR data directly into the stereo algorithm to reduce false positives while increasing the density of the resulting disparity image on textureless regions. We demonstrate with extensive experimental results with real data that the disparity estimation is substantially improved while speeding up the stereo computation by as much as a factor of five.read more
Citations
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Journal ArticleDOI
Autonomous vehicle perception: The technology of today and tomorrow
TL;DR: A comprehensive review of the state-of-the-art AV perception technology available today, which highlights future research areas and draws conclusions about the most effective methods for AV perception and its effect on localization and mapping.
Journal ArticleDOI
Research Advances and Challenges of Autonomous and Connected Ground Vehicles
TL;DR: A representative architecture of CAVs is introduced and the latest research advances, methods, and algorithms for sensing, perception, planning, and control of CAV are surveyed and their significant research issues enumerated.
Proceedings ArticleDOI
Real-time probabilistic fusion of sparse 3D LIDAR and dense stereo
Will Maddern,Paul Newman +1 more
TL;DR: A probabilistic method for fusing sparse 3D LIDAR data with stereo images to provide accurate dense depth maps and uncertainty estimates in real-time is presented, providing accuracy results competitive with state-of-the-art stereo approaches and credible uncertainty estimates that do not misrepresent the true errors.
Journal ArticleDOI
Ambient awareness for agricultural robotic vehicles
TL;DR: Different onboard sensor technologies, namely stereovision, LIDAR, radar, and thermography, are considered and novel methods for their combination are proposed to automatically detect obstacles and discern traversable from non-traversable areas.
Proceedings ArticleDOI
High-Precision Depth Estimation with the 3D LiDAR and Stereo Fusion
TL;DR: A deep convolutional neural network architecture for high-precision depth estimation by jointly utilizing sparse 3D LiDAR and dense stereo depth information and is significantly more accurate than various baseline approaches.
References
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