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— Many roads are not totaly planar and often present hills and valleys because of environment topography. Nevertheless, the majority of existing techniques for road obstacle detection using stereovision assumes that the road is planar. This can cause several issues : imprecision as regards the real position of obstacles as well as false obstacle detection(More)
In this paper, we propose a fast and robust stereo algorithm to perform in-vehicle obstacles detection and characterization. The stereo algorithm used is called the " v-disparity " 1 algorithm which provides a suitable representation of the geometric content of the road scene. The stereo algorithm principle is described, and then the in-vehicle embedded(More)
— Perception sensors (cameras, laser, radar) are being introduced into certain vehicles. These sensors have been designed to operate within a wide range of situations and conditions (weather, luminosity, etc.) with a prescribed set of variation thresholds. Effectively detecting when a given operating threshold has been surpassed constitutes a key parameter(More)
— This paper presents an original approach of road segmentation supervised by stereovision. It deals with free space estimation by stereovision and road detection by color segmentation. The v-disparity algorithm is extended to provide a reliable and precise road profile on all types of roads. The free space is estimated by classifying the pixels of the(More)
—In adverse weather conditions, in particular in daylight fog, the contrast of images grabbed by in-vehicle cameras in the visible light range is drastically degraded, which makes the current driver assistances relying on cameras very sensitive to weather conditions. An onboard vision system should take weather effects into account. The effects of daylight(More)
— Stereo-vision is extensively used for intelligent vehicles, mainly for obstacle detection, as it provides a large amount of data. Many authors use it as a classical 3D sensor which provides a large tri-dimensional cloud of metric measurements , and apply methods usually designed for other sensors, such as clustering based on a distance. For stereo-vision,(More)
In this article, we will present a technique for measuring visibility distances under foggy weather conditions using a camera mounted onboard a moving vehicle. Our research has focused in particular on the problem of detecting daytime fog and estimating visibility distances; thanks to these efforts, an original method has been developed, tested and(More)
We propose a new cooperative fusion approach between stereovision and laser scanner in order to take advantage of the best features and cope with the drawbacks of these two sensors to perform robust, accurate and real time-detection of multi-obstacles in the automotive context. The proposed system is able to estimate the position and the height, width and(More)