In this paper, we propose a general technique for robust modeling of non-planar ground surfaces. It is based on representing the ground plane as a parametric B-Spline surface and on robust tracking of the surface parameters using stereo disparities and a Kalman filter. We adopt a recently published real-time optimization algorithm for finding the road-obstacle boundary to integrate disparity values. The results show that in situations where a planar road assumption yields wrong results due to undulating roads, our approach is able to distinguish between free space and obstacles.


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    Titel :

    B-spline modeling of road surfaces for freespace estimation


    Beteiligte:
    Wedel, Andreas (Autor:in) / Franke, Uwe (Autor:in) / Badino, Hernan (Autor:in) / Cremers, Daniel (Autor:in)


    Erscheinungsdatum :

    01.06.2008


    Format / Umfang :

    1771494 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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