High Accuracy Stereovision Approach for Obstacle Detection on Non-Planar Roads
نویسندگان
چکیده
This paper will present an obstacle detection system that that relies on the 3D information provided by stereo reconstruction. The 3D features must be separated in road features and obstacle features. Instead of relying on the flatness of the road, the vertical road profile is modeled as a clothoid, and is estimated from the lateral projection of the 3D points. The points above the road are selected for grouping into objects, based on vicinity criteria and the variation of the point density with the distance. The resulted objects are used as measurements for a model-based tracking algorithm. The resulted system is a high-accuracy, far distance obstacle detector, able to function in a large variety of real-world scenarios.
منابع مشابه
Stereovision Approach for Obstacle Detection on Non-Planar Roads
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