Processing Dense Stereo Data Using Elevation Maps: Road Surface, Traffic Isle, and Obstacle Detection

@article{Oniga2010ProcessingDS,
  title={Processing Dense Stereo Data Using Elevation Maps: Road Surface, Traffic Isle, and Obstacle Detection},
  author={Florin Oniga and Sergiu Nedevschi},
  journal={IEEE Transactions on Vehicular Technology},
  year={2010},
  volume={59},
  pages={1172-1182}
}
A new approach for the detection of the road surface and obstacles is presented. The high accuracy of the method allows the detection of traffic isles as a distinct class. The 3-D data inferred from dense stereo are transformed into a rectangular digital elevation map (DEM). Two classifiers are proposed, namely, density based and road surface based. The density-based obstacle classifier marks DEM cells as road or obstacles, using the density of 3-D points as a criterion. A quadratic road… CONTINUE READING
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