Saliency-Based Obstacle Detection and Ground-Plane Estimation for Off-Road Vehicles

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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.
Original languageUnknown
Title of host publicationLecture Notes in Computer Science
ISBN (Print)978-3-642-04666-7
Publication statusPublished - 1 Jan 2009
Event7th International Conference on Computer Vision Systems -
Duration: 1 Jan 2009 → …


Conference7th International Conference on Computer Vision Systems
Period1/01/09 → …

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