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Free Space Estimation for Autonomous Navigation

Soquet, Nicolas ; Perrollaz, Mathias ; Labayrade, Raphaël ; Aubert, Didier

The 5th International Conference on Computer Vision Systems, 2007
Bielefeld, 21. - 24. März 2007

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Abstract:
One of the issue in autonomous navigation is the free space estimation. This paper presents an original framework and a method for the extraction of such an area by using a stereovision system. The _v-disparity_ algorithm is extended to provide a reliable and precise road profile on all types of roads. The free space is estimated by classifying the pixels of the disparity map. This classification is performed by using the road profile and the _u-disparity_ image. Each stage of the algorithm is presented and experimental results are shown.


Keywords: Stereovision, v-disparity, precise road profile, free space.
Institution: Faculty of Technology, Research Groups in Informatics
DDC classification: Data processing, computer science, computer systems

Suggested Citation:
Soquet, Nicolas ; Perrollaz, Mathias ; Labayrade, Raphaël ; Aubert, Didier  (2007)  Free Space Estimation for Autonomous Navigation. The 5th International Conference on Computer Vision Systems, 2007


URL: http://biecoll.ub.uni-bielefeld.de/volltexte/2007/47



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