Stereo-based preprocessing for human shape localization in unstructured environments

This paper describes the research activities for the localization of human shapes using visual information carried on at the University of Parma, Italy, in the frame of a common project with the TACOM Department of US Army. The paper proposes the application of a stereoscopic technique as a preprocessing for the localization of humans in generic unstructured environments. Each row of the left image is matched with the epipolar row of the right image. This creates a map of each object in the scene as well as the slope of the road. Preliminary results have proved to be promising.