Obstacle detection is a fundamental task for Advanced Driver Assistance Systems (ADAS) and Self-driving cars. Several commercial systems like Adaptive Cruise Controls and Collision Warning Systems depend on them to notify the driver about a risky situation. Several approaches have been presented in the literature in the last years. However, most of them are limited to specific scenarios and restricted conditions. In this paper we propose a fast obstacle estimation to stereo cameras followed by a robust road estimation method. Our approach uses only disparity maps and works with a low number of pixels instead of the entire image. Experimental tests have been carried out in different conditions using the standard ROAD-KITTI benchmark, obtaining positive results.
Road estimation with sparse 3D points from stereo data
01.10.2014
2877427 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Road Gradient Estimation Method and System based on Stereo Camera
Europäisches Patentamt | 2019
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