Obstacle Detection using a Time of Flight Range Camera

The objective of this work consisted in the design, implementation and evaluation of a robust object detection system, using only information acquired by a Time of Flight (ToF) camera. For object detection and discrimination against other elements that may appear in the scene, different descriptors and classifiers have been studied. To evaluate the algorithm, images obtained with the Sentis3D-M420 Time of Flight camera of the DSIE research group of the Polytechnic University of Cartagena have been used. The system has been designed to cover the blind spot area of a vehicle or integrated as part of an autonomous driving system.