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Title: An evaluation framework for stereo-based driver assistance
Authors: Schneider, N
Gehrig, S
Pfeiffer, D
Banitsas, KA
Issue Date: 2012
Publisher: Springer-Verlag
Citation: Outdoor large-Scale and Real-World Scene Analysis, LNCS 7474: 27-51, Oct 2012
Abstract: The accuracy of stereo algorithms or optical flow methods is commonly assessed by comparing the results against the Middlebury database. However, equivalent data for automotive or robotics applications rarely exist as they are difficult to obtain. As our main contribution, we introduce an evaluation framework tailored for stereo-based driver assistance able to deliver excellent performance measures while circumventing manual label effort. Within this framework one can combine several ways of ground-truthing, different comparison metrics, and use large image databases. Using our framework we show examples on several types of ground truthing techniques: implicit ground truthing (e.g. sequence recorded without a crash occurred), robotic vehicles with high precision sensors, and to a small extent, manual labeling. To show the effectiveness of our evaluation framework we compare three different stereo algorithms on pixel and object level. In more detail we evaluate an intermediate representation called the Stixel World. Besides evaluating the accuracy of the Stixels, we investigate the completeness (equivalent to the detection rate) of the StixelWorld vs. the number of phantom Stixels. Among many findings, using this framework enables us to reduce the number of phantom Stixels by a factor of three compared to the base parametrization. This base parametrization has already been optimized by test driving vehicles for distances exceeding 10000 km.
Description: This is the post-print version of the Article - Copyright @ 2012 Springer Verlag
Appears in Collections:Electronic and Computer Engineering
Dept of Electronic and Computer Engineering Research Papers

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