Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Stereo-Vision Based Road Slope Estimation and Free Space Detection on Road

스테레오비전 기반의 도로의 기울기 추정과 자유주행공간 검출

  • 이기용 (전남대학교 산업공학과(시스템자동화연구소)) ;
  • 이준웅 (전남대학교 산업공학과(시스템자동화연구소))
  • Received : 2010.11.15
  • Accepted : 2010.12.20
  • Published : 2011.03.01
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Abstract

This paper presents an algorithm capable of detecting free space for the autonomous vehicle navigation. The algorithm consists of two main steps: 1) estimation of longitudinal profile of road, 2) detection of free space. The estimation of longitudinal profile of road is detection of v-line in v-disparity image which is corresponded to road slope, using v-disparity image and hough transform, Dijkstra algorithm. To detect free space, we detect u-line in u-disparity image which is a boundary line between free space and obstacle's region, using u-disparity image and dynamic programming. Free space is decided by detected v-line and u-line. The proposed algorithm is proven to be successful through experiments under various traffic scenarios.

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References

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