REAL TIME OBJECT DELIMITERS EXTRACTION FOR ENVIRONMENT REPRESENTATION IN DRIVING SCENARIOS

The environment representation is essential for driving assistance. However, the performances achieved in complex environments are still unsatisfactory regarding the accuracy, confidence and real time capabilities. This paper presents a real-time 2.5D environment representation model, for driving scenarios, based on object delimiters extraction from a 3D occupancy grid obtained from dense stereo. We propose two approaches to extract the polyline delimiters: an improved contour tracing called 3A Tracing and a polyline extraction method through the occupancy grid radial scanning. The advantages and drawbacks for each of these methods have been discussed.