TY - GEN
T1 - Pedestrian lane detection in unstructured environments for assistive navigation
AU - Le, Manh Cuong
AU - Phung, Son Lam
AU - Bouzerdoum, Abdesselam
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/12
Y1 - 2015/1/12
N2 - Automatically finding paths is a crucial and challenging task in autonomous navigation systems. The task becomes more difficult in unstructured environments such as indoor or outdoor scenes with unmarked pedestrian lanes under severe illumination conditions, complex lane surface structures, and occlusion. This paper proposes a robust method for pedestrian lane detection in such unstructured environments. The proposed method detects the walking lane in a probabilistic framework integrating both appearance of the lane region and characteristics of the lane borders. The vanishing point is employed to identify the lane borders. We propose an improved vanishing point estimation method based on orientation of color edges, and use pedestrian detection for occlusion handling. The proposed pedestrian lane detection method is evaluated on a new data set of 2000 images collected from various indoor and outdoor scenes with different types of unmarked lanes. Experimental results and comparisons with other existing methods on the new data set have shown the efficiency and robustness of the proposed method.
AB - Automatically finding paths is a crucial and challenging task in autonomous navigation systems. The task becomes more difficult in unstructured environments such as indoor or outdoor scenes with unmarked pedestrian lanes under severe illumination conditions, complex lane surface structures, and occlusion. This paper proposes a robust method for pedestrian lane detection in such unstructured environments. The proposed method detects the walking lane in a probabilistic framework integrating both appearance of the lane region and characteristics of the lane borders. The vanishing point is employed to identify the lane borders. We propose an improved vanishing point estimation method based on orientation of color edges, and use pedestrian detection for occlusion handling. The proposed pedestrian lane detection method is evaluated on a new data set of 2000 images collected from various indoor and outdoor scenes with different types of unmarked lanes. Experimental results and comparisons with other existing methods on the new data set have shown the efficiency and robustness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84922569738&partnerID=8YFLogxK
U2 - 10.1109/DICTA.2014.7008122
DO - 10.1109/DICTA.2014.7008122
M3 - Conference contribution
AN - SCOPUS:84922569738
T3 - 2014 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2014
BT - 2014 International Conference on Digital Image Computing
A2 - Bouzerdoum, Abdesselam
A2 - Wang, Lei
A2 - Ogunbona, Philip
A2 - Li, Wanqing
A2 - Phung, Son Lam
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 International Conference on Digital Image Computing: Techniques and Applications, DICTA 2014
Y2 - 25 November 2014 through 27 November 2014
ER -