Free Space Estimation for Autonomous Navigation

  • Nicolas Soquet
  • Mathias Perrollaz
  • Raphaël Labayrade
  • Didier Aubert
Schlagworte: Stereovision, v-disparity, precise road profile, free space., DDC: 004 (Data processing, computer science, computer systems)


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.
The 5th International Conference on Computer Vision Systems