Global correlation based ground plane estimation using V-disparity image

Jun Z; Katupitiya J; Ward J, 2007, 'Global correlation based ground plane estimation using V-disparity image', Proceedings - IEEE International Conference on Robotics and Automation, pp. 529 - 534, Italy

Abstract / Description

This paper presents the estimation of the position of the ground plane for navigation of on-road or off-road vehicles, in particular for obstacle detection using stereo vision. Ground plane estimation plays an important role in stereo vision based obstacle detection tasks. V-disparity image is widely used for ground plane estimation. However, it heavily relies on distinct road features which may not exist. In here, we introduce a global correlation method to extract the position of the ground plane in V-disparity image even without distinct road features. © 2007 IEEE.

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