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–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(More)
A new approach for the stereovision problem is presented, aiming to increase the accuracy of stereo reconstruction. The proposed method is edge-based and consists of the correlation of left and right contours, detected with sub-pixel accuracy. The steps of the stereo matching process are: segmentation of each contour into basic contours (strongly-and(More)