Abstract
Due to stringing time constraints, saliency models are becoming popular tools for building situated robotic systems requiring, for instance, object recognition and vision-based localisation capabilities. This paper contributes to this endeavour by applying saliency into two new tasks: modulation of stereo-based obstacle detection and ground-plane estimation, both to operate on-board off-road vehicles. To achieve this, a new biologically inspired saliency model, along with a set of adaptations to the task-specific algorithms, are proposed. Experimental results show a reduction in computational cost and an increase in both robustness and accuracy when saliency modulation is used.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Itti, L., Koch, C., Niebur, E.: A Model of Saliency-Based Visual Attention for Rapid Scene Analysis. IEEE Trans. on Pattern Analysis and Machine Intelligence, 1254–1259 (1998)
Frintrop, S.: VOCUS: a visual attention system for object detection and goal-directed search. PhD thesis, INAI, Vol. 3899, Germany (2006)
Kadir, T., Brady, M.: Saliency, scale and image description. Intl. Journal of Computer Vision 45(2), 83–105 (2001)
Hou, X., Zhang, L.: Saliency detection: a spectral residual approach. In: Proc. of the IEEE Intl. Conf. on Computer Vision and Pattern Recognition (CVPR), pp. 1–8 (2007)
Ude, A., Wyart, V., Lin, L., Cheng, G.: Distributed visual attention on a humanoid robot. In: Proc. of the IEEE Int. Conf. on Humanoid Robots, pp. 381–386 (2005)
Ruesch, J., Lopes, M., Bernardino, A., Hornstein, J., Santos-Victor, J., Pfeifer, R.: Multimodal saliency-based bottom-up attention a framework for the humanoid robot iCub. In: Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 962–967 (2008)
Walther, D., Koch, C.: Modeling attention to salient proto-objects. Neural Networks 19, 1395–1407 (2006)
Meger, D., Forssen, P.E., Lai, K., Helmer, S., McCann, S., Southey, T., Baumann, M., Little, J.J., Lowe, D.G., Dow, B.: Curious George: An attentive semantic robot. Robotics and Autonomous Systems 56(6), 503–511 (2008)
Frintrop, S., Jensfelt, P., Christensen, H.: Simultaneous Robot Localization and Mapping Based on a Visual Attention System. In: Paletta, L., Rome, E. (eds.) WAPCV 2007. LNCS (LNAI), vol. 4840, pp. 417–430. Springer, Heidelberg (2007)
Newman, P., Ho, K.: SLAM-Loop Closing with Visually Salient Features. In: Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 635–642 (2005)
Konolige, K., Agrawal, M., Bolles, R., Cowan, C., Fischler, M., Gerkey, B.: Outdoor mapping and navigation using stereo vision. In: Proc. of the 2006 Intl. Symp. on Experimental Robotics (ISER), pp. 179–190 (2006)
Mufti, F., Mahony, R., Heinzmann, J.: Saptio-temporal RANSAC for robust estimation of ground plane in video range images for automotive applications. In: Proc. of the IEEE Intl. Conf. on Intelligent Transportation Systems (ITSC), pp. 1142–1148 (2008)
Mark, W., Heuvel, J., Groen, F.: Stereo based obstacle detection with uncertainty in rough terrain. In: Proc. of the IEEE Intelligent Vehicles Symposium, pp. 1005–1012 (2007)
Chumerin, N., Van Hulle, M.: Ground plane estimation based on dense stereo disparity. In: Proc. of the Intl. Conf. on Neural Networks and Artificial Intelligence, ICNNAI (2008)
Broggi, A., Caraffi, C., Porta, P., Zani, P.: The single frame stereo vision system for reliable obstacle detection used during the 2005 DARPA Grand Challenge on TerraMax. In: Proc. of the IEEE Intl. Conf. on Intelligent Transportation Systems (ITSC), pp. 745–752 (2006)
Manduchi, R., Castano, A., Talukder, A., Matthies, L.: Obstacle detection and terrain classification for autonomous off-road navigation. Autonomous Robots 18(1), 81–102 (2005)
Santana, P., Santos, P., Correia, L., Barata, J.: Cross-country obstacle detection: Space-variant resolution and outliers removal. In: Proc. of the IEEE Intl. Conf. on Intelligent Robots and Systems (IROS 2008), pp. 1836–1841 (2008)
Hwang, A.D., Higgins, E.C., Pomplun, M.: A model of top-down attentional control during visual search in complex scenes. Journal of Vision 9(5), 1–18 (2009)
Fischler, M., Bolles, R.: Random sample consensus: A paradigm for model fitting with applications to image analysis and automated cartography. Commun. of the ACM 24 (1981)
Konolige, K., Beymer, D.: SRI Small Vision System Users Manual. SRI Intl. (May 2007)
Bradski, G., Kaehler, A.: Learning OpenCV: Computer vision with the OpenCV library. O’Reilly Media, Inc., Sebastopol (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Santana, P., Guedes, M., Correia, L., Barata, J. (2009). Saliency-Based Obstacle Detection and Ground-Plane Estimation for Off-Road Vehicles. In: Fritz, M., Schiele, B., Piater, J.H. (eds) Computer Vision Systems. ICVS 2009. Lecture Notes in Computer Science, vol 5815. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04667-4_28
Download citation
DOI: https://doi.org/10.1007/978-3-642-04667-4_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-04666-7
Online ISBN: 978-3-642-04667-4
eBook Packages: Computer ScienceComputer Science (R0)