Summary
International Technical Conference on Circuits/Systems, Computers and Communications
2016
Session Number:P1
Session:
Number:P1-15
Road Surface Estimation using a Piecewise Linear Function in v-Disparity
Kyungjae Lee, Jaesung Kim, Sangyoun Lee ,
pp.887-889
Publication Date:2016/7/10
Online ISSN:2188-5079
Summary:
In this paper we proposed an algorithm to estimate a road surface for a vehicle. Our method utilized a picewise linear function in v-disparity space directly to reduce time consumption without transformation of real-world coordinates. For robust algorithm, we implement a series of image processing procedures. u-disparity is used for filtering obstacles which disturb candidates extraction step of a road surface. v-disparity is used for extraction of a road surface candidates and estimation of a road surface. We separate regions from v-disparity and implement a line fitting algorithm independently. Experimental results show that our method estimates a road surface model successfully.