Robust curb and ramp detection for safe parking using the Canesta TOF camera

2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, CVPR Workshops

Volumn , Issue , 2008, Pages

  Gallo, Orazio ^a   Manduchi, Roberto ^a   Rafii, Abbas ^b  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b Canesta Inc   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACCURATE ESTIMATION; CONNECTED COMPONENTS; EXPERIMENTAL EVIDENCE; HUMAN LIVES; IMAGING RANGE; MICROWAVE SENSORS; NUMBER OF ITERATIONS; RANGE SENSORS; ROBUST REGRESSIONS;

ARTIFICIAL INTELLIGENCE; CAMERAS; COMPUTER VISION; CURBS; FEATURE EXTRACTION; FOOD PROCESSING; IMAGE PROCESSING; PATTERN RECOGNITION; SECURITY OF DATA; SENSORS; ULTRASONIC APPLICATIONS; ULTRASONIC IMAGING;

PARKING;

EID: 52049088031     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CVPRW.2008.4563165     Document Type: Conference Paper

References (38)

1. http://www.kidsandcars.org, accessed on 05/02/2008. 1
2. Backup systems. Consumer Reports, 69(10):19-20, October 2004. 1
3. Data collection study: Deaths and injuries resulting from certain non-traffic and non-crash events. Technical report, U.S. Department of Transportation - National Highway Traffic Safety Administration, 2004. 1
4. M. Adams and A. Kerstens. Tracking naturally-occurring indoor features in 2-D and 3-D with lidar range amplitude data. Internation Journal of Robotics Research, 17(9):907-923, September 1998. 3
5. M. D. Adams. On-line gradient based surface discontinuity detection for outdoor scanning range sensors. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'01), volume 3, pages 1726-1731, 2001. 3
6. A. Bab-Hadiashar and D. Suter. Robust range segmentation. In Proceedings of the Fourteenth International Conference on Pattern Recognition, volume 2, pages 969-971. 1998. 3
7. P. J. Besl and R. C. Jain. Segmentation through variableorder surface fitting. IEEE Transactions on Pattern Analysis and Machine Intelligence, 10(2):167-192, 1988. 4
8. K. Boyer, M. Mirza, and G. Ganguly. The robust sequential estimator: A general approach and its application to surface organization in range data. IEEE Transactions on Pattern Analysis and Machine Intelligence, 16(10):987-1001, 1994. 4
9. H. Chen, P. Meer. and D. H. Tyler. Robust regression for data with multiple structures. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2001), volume 1, pages 1069-1075, 2001. 3
10. D. Eberly, R. Gardner, B. Morse, S. Pizer, and C. Scharlach. Ridges for image analysis. Journal of Mathematical Imaging and Vision, 4(4):353-373, 1994. 3
11. M. A. Fischler and R. C. Bolles. Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun. ACM, 24(6):381-395, 1981. 3
12. V. Glazduri. An investigation of the potential safety benefits of vehicle backup proximity sensors. In Proceedings of the International Technical Conference on Enhanced Safety Vehicles, 2005. 1, 2
13. S. Gokturk and C. Tomasi. 3D head tracking based on recognition and interpolation using a time-of-flight depth sensor. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR'04), 2004. 2
14. S. Hsu, A. Rafii, and D. Hirvonen. Object detection and tracking using an optical time-of-flight range camera module for vehicle safety and driver assist applications. In Proceedings of SAE World Congress & Exhibition, 2007. 1, 2
15. P. Huber. Robust Statistics. Wiley, New York. 1981. 3
16. J. Illingworth and J. Kittler. A survey of the Hough transform. Comput. Vision Graph. Image Process., 44(1):87-116, 1988. 3
17. K. Koster and M. Spann. MIR: an approach to robust clustering-application to range image segmentation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 22(5):430-444, 2000. 4
18. J. F. Lalonde, R. Unnikrishnan, N. Vandapel, and M. Hebert. Scale selection for classification of point-sampled 3D surfaces. In Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), pages 285-292, 2005.
19. K.-M. Lee, P. Meer, and R.-H. Park. Robust adaptive segmentation of range images. IEEE Transactions on Pattern Analysis and Machine Intelligence, 20(2):200-205, 1998. 3
20. Y. Liu, R. Emery, D. Chakrabarti, W. Burgard, and S. Thrun. Using EM to learn 3D models with mobile robots. In Proceedings of the International Conference on Machine Learning (ICML), 2001. 3
21. G. McLachlan and D. Peel. Finite Mixture Models. Wiley-Intcrscience, October 2000. 4
22. P. Meer. Robust techniques for computer vision. In G. Medioni and S. B. Kang, editors, Emerging Topics in Computer Vision, IMSC Press Multimedia Series, chapter 4. Prentice Hall, 1st edition, July 2004. 3
23. J. V. Miller and C. V. Stewart. MUSE: robust surface fitting using unbiased scale estimates. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR'96), pages 300-306, 1996. 3
24. N. J. Mitra, A. Nguyen, and L. Guibas. Estimating surface normals in noisy point cloud data. International Journal of Computational Geometry and Applications, 14(4-5):261-276, 2004. 3
25. E. P. Nadler. A. P. Courcoulas, M. J. Gardner, and H. R. Ford. Driveway injuries in children: Risk factors, morbidity, and mortality. Pediatrics, 108(2):326-8, August 2001. 1
26. M. Paine and M. Henderson. Devices to assist in reducing the risk to young pedestrians from reversing motor vehicles. Technical Specification 149, Roads and Traffic Authority, New South Wales, Australia, October 2005. 1
27. M. Paine, A. Macbeth, and M. Henderson. The danger to young pedestrians from reversing motor vehicles. In Proceedings of the International Technical Conference on Enhanced Safely Vehicles, 2003. 1
28. P. Rousseeuw and A. Leroy. Robust regression and outlier detection. John Wiley & Sons, Inc., New York, NY, USA, 1987. 3
29. C. V. Stewart. Bias in robust estimation caused by discontinuities and multiple structures. IEEE Transactions on Pattern Analysis and Machine Intelligence, 19(8):818-833, 1997. 2, 3, 4, 6
30. C. V. Stewart. Robust parameter estimation in computer vision. SIAM Rev., 41(3):513-537, 1999. 3
31. R. Subbarao and P. Meer. Heteroscedastic projection based m-estimators. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR'05), volume 3, pages 38-38, 2005. 3
32. F. Tang, M. Adams, J. Ibancz-Guzman, and W. S. Wijcsoma. Pose invariant, robust feature extraction from data with a modified scale space approach. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'04), 3:3173-3179, 2004. 3
33. G. Taubin. Estimation of planar curves, surfaces, and nonplanar space curves defined by implicit equations with applications to edge and range image segmentation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 13(11):1115-1138, 1991. 4
34. W.-S. Tong, C.-K. Tang, and G. Medioni. First order tensor voting, and application to 3-D scale analysis. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR'01), volume 1, 2001. 3
35. P. H. S. Torr and A. Zisserman. MLESAC: a new robust estimator with application to estimating image geometry. Computer Vision and Image Understanding, 78(1):138-156, 2000. 3
36. R. Triebel, W. Burgard, and E Dellaert. Using hierarchical EM to extract planes from 3D range scans. Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), pages 4437-4442, 2005. 3
37. R. Unnikrishnan and M. Hebert. Robust extraction of multiple structures from non-uniformly sampled data. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), 2:1322-1329 vol. 2, 2003. 4
38. R. Vidal. Y. Ma, and S. Sastry. Generalized principal component analysis (GPCA). IEEE Transactions on Pattern Analysis and Machine Intelligence, 27(12):1945-1959, 2005. 3