Abstract
Obstacle detection is an essential element for the development of intelligent transportation systems so that accidents can be avoided. In this study, we propose a stereovisionbased method for detecting obstacles in urban environment. The proposed method uses a deep stacked auto-encoders (DSA) model that combines the greedy learning features with the dimensionality reduction capacity and employs an unsupervised k-nearest neighbors algorithm (KNN) to accurately and reliably detect the presence of obstacles. We consider obstacle detection as an anomaly detection problem. We evaluated the proposed method by using practical data from three publicly available datasets, the Malaga stereovision urban dataset (MSVUD), the Daimler urban segmentation dataset (DUSD), and Bahnhof dataset. Also, we compared the efficiency of DSA-KNN approach to the deep belief network (DBN)-based clustering schemes. Results show that the DSA-KNN is suitable to visually monitor urban scenes.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 5122-5132 |
| Number of pages | 11 |
| Journal | IEEE Sensors Journal |
| Volume | 18 |
| Issue number | 12 |
| DOIs | |
| State | Published - Apr 30 2018 |
Bibliographical note
KAUST Repository Item: Exported on 2020-10-01Acknowledged KAUST grant number(s): OSR-2015-CRG4-2582
Acknowledgements: This publication is based upon work supported by the King Abdullah University of Science and Technology (KAUST) Office of Sponsored Research (OSR) under Award No: OSR- 2015-CRG4-2582. The authors (Abdelkader Dairi and Mohamed Senouci) would like to thank the Computer Science Department, University of Oran 1 Ahmed Ben Bella for the continued support during the research. We are grateful to the five referees, the Associate Editor, and the Editor-in-Chief for their comments.
