Stereovision Approach for Obstacle Detection on Non-Planar Roads

@inproceedings{Nedevschi2004StereovisionAF,
  title={Stereovision Approach for Obstacle Detection on Non-Planar Roads},
  author={Sergiu Nedevschi and Radu Danescu and Dan Frentiu and Tiberiu Marita and Florin Oniga and Ciprian Pocol and Rolf Schmidt and Thorsten Graf},
  booktitle={ICINCO},
  year={2004}
}
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… CONTINUE READING

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