Unified stereovision for ground, road, and obstacle detection

Author

Lombardi, Paolo ; Zanin, Michele ; Messelodi, Stefano

Author_Institution

Interactive Sensory Syst. Div., Istituto Trentino di Cultura, Trento, Italy

fYear

2005

fDate

6-8 June 2005

Firstpage

783

Lastpage

788

Abstract

This paper presents a method for road detection and obstacle detection entirely based on stereovision. The ground plane is estimated online by least square fitting of disparity data. This operation allows deleting road features for obstacle detection, estimating directly camera roll and pitch, and deriving some clues on road-surface image regions. A model-based algorithm employing only disparity information is demonstrated to be able to segment the whole road surface without knowledge of infrastructures and features like lane markings. This helps navigation in suburban and country-road environments, and recovery from critical failure of lane-markings trackers.

Keywords

automated highways; least squares approximations; navigation; object detection; road vehicles; stereo image processing; camera roll; ground detection; lane marking; least square fitting; model-based algorithm; navigation; obstacle detection; road detection; road-surface image region; unified stereovision; Cameras; Computer vision; Image analysis; Image segmentation; Least squares approximation; Navigation; Parameter estimation; Roads; Stereo vision; Surface fitting;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2005. Proceedings. IEEE

Print_ISBN

0-7803-8961-1

Type

conf

DOI

10.1109/IVS.2005.1505200

Filename

1505200