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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    Title :

    B-spline modeling of road surfaces for freespace estimation


    Contributors:


    Publication date :

    2008-06-01


    Size :

    1771494 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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