Method

AARBM Stereo and RANSAC plane estimation + Baseline from Ground Truth [st] [SPlane + BL]


Submitted on 2 Jun. 2014 10:44 by
Nils Einecke (Honda Research Institute Europe GmbH)

Running time:2 s
Environment:1 core @ 3.0 Ghz (C/C++)

Method Description:
Combine the confidence maps of the "Appearance-Aligned Relaxed Block-Matching (AARBM) Stereo and RANSAC plane estimation [SPlane]" and the "Baseline from Ground Truth [BL]" via pixel-wise multiplication.

You can request a copy of the AARBM stereo paper here.
Parameters:
disp.-range = [0..255]
BM-size = 11x11
RBM penalty = 0.9
Latex Bibtex:
@InProceedings{Einecke2014IV,
author = {N. Einecke and J. Eggert},
title = {Block-Matching Stereo with Relaxed Fronto-Parallel Assumption},
booktitle = {IV},
pages = {700--705},
year = 2014
}

Evaluation in Bird's Eye View


Benchmark MaxF AP PRE REC FPR FNR
UM_ROAD 85.23 % 88.66 % 83.43 % 87.12 % 7.89 % 12.88 %
UMM_ROAD 82.04 % 85.56 % 75.11 % 90.39 % 32.93 % 9.61 %
UU_ROAD 74.02 % 79.61 % 65.15 % 85.68 % 14.93 % 14.32 %
URBAN_ROAD 79.63 % 83.90 % 72.59 % 88.17 % 18.34 % 11.83 %
UM_LANE 69.63 % 73.78 % 80.01 % 61.63 % 2.71 % 38.37 %
This table as LaTeX

Behavior Evaluation


Benchmark PRE-20 F1-20 HR-20 PRE-30 F1-30 HR-30 PRE-40 F1-40 HR-40
UM_LANE 95.53 % 92.88 % 91.21 % 91.89 % 87.12 % 74.28 % 79.79 % 47.13 % 0.00 %
This table as LaTeX

Road/Lane Detection

The following plots show precision/recall curves for the bird's eye view evaluation.



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Distance-dependent Behavior Evaluation

The following plots show the F1 score/Precision/Hitrate with respect to the longitudinal distance which has been used for evaluation.



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Visualization of Results

The following images illustrate the performance of the method qualitatively on a couple of test images. We first show results in the perspective image, followed by evaluation in bird's eye view. Here, red denotes false negatives, blue areas correspond to false positives and green represents true positives.



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