Vehicle detection based on the stereo concept of (axis, width, disparity) symmetry map

In this paper, we introduced the concept of (axis,width,disparity) symmetry map. It is a stereo extension of the monocular concept of (axis,width) symmetry map. In its principle, this concept can be used for the detection of any symmetric obstacle provided that its approximate width and height are known. In this paper, we used it for vehicle detection. As the presence or absence of road features, and hilly or plan road do not perturb the process, the proposed method is an alternative to v-disparity approach.