An Online Probabilistic Road Intersection Detector
Abstract: In this paper we propose a probabilistic approach for detecting and classifying urban road intersections from a moving vehicle. The approach is based on images from an onboard stereo rig; it relies on the detection of the road ground plane on one side, and on a pixel-level classiﬁcation of the road on the other. The two processing pipelines are then integrated and the parameters of the road components, i.e., the intersection geometry, are inferred. As opposed to other state-of-the-art ofﬂine methods, which require processing of the whole video sequence, our approach integrates the image data by means of an online procedure. The experiments have been performed on well-known KITTI datasets, allowing for future comparisons.