Accurate vertical road profile estimation using v-disparity map and dynamic programming
| Autor: | Chee Sun Won, Ji-Yeol Park, Sesong Kim, Seung-Won Jung |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
050210 logistics & transportation
Computer science business.industry 05 social sciences Advanced driver assistance systems 02 engineering and technology Function (mathematics) Dynamic programming ComputerSystemsOrganization_MISCELLANEOUS Road surface Obstacle 0502 economics and business Parametric model 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence business Energy (signal processing) |
| Zdroj: | ITSC |
| Popis: | Detecting obstacles on the road is crucial for the advanced driver assistance systems. Obstacle detection on the road can be greatly facilitated if we have a vertical road profile. Therefore, in this paper, we present a novel method that can estimate an accurate vertical road profile of the scene from the stereo images. Unlike conventional stereo-based road profile estimation methods that heavily rely on a parametric model of the road surface, our method can obtain a road profile for an arbitrary complicated road. To this end, an energy function that includes the stereo matching fidelity and spatio-temporal smoothness of the road profile is presented, and thus the road profile is extracted by maximizing the energy function via dynamic programming. The experimental results demonstrate the effectiveness of the proposed method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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