Obstacle detection with 3D camera using U-V-Disparity

@article{Gao2011ObstacleDW,
  title={Obstacle detection with 3D camera using U-V-Disparity},
  author={Yuan Gao and Xiao Ai and John G. Rarity and Naim Dahnoun},
  journal={International Workshop on Systems, Signal Processing and their Applications, WOSSPA},
  year={2011},
  pages={239-242}
}
Obstacle detection has been one of the most critical features for reliable driving scene analysis. This paper presents an approach for an automatic obstacle detection system. The proposed system makes use of depth information generated by a 3D camera mounted on the front of a moving vehicle. Obstacles projected as line features in the V-U-Disparity map can be extracted to detect the road surface and obstacles. A Steerable Filter is employed at an early stage to dramatically lower the noise… CONTINUE READING
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