Title :
Detection of non-flat ground surfaces using V-Disparity images
Author :
Zhao, Jun ; Whitty, Mark ; Katupitiya, Jayanatha
Author_Institution :
ARC Centre of Excellence for Autonomous Syst., Univ. of New South Wales, Sydney, NSW, Australia
Abstract :
Ground plane detection plays an important role in stereo vision based obstacle detection methods. Recently, V-disparity image has been widely used for ground plane detection. The existing approach based on V-disparity image can detect flat ground successfully but have difficulty in detecting non-flat ground. In this paper, we discuss the representation of non-flat ground in V-disparity image, based on which we propose a method to detect non-flat ground using V-disparity image.
Keywords :
image representation; object detection; path planning; robot vision; stereo image processing; V-disparity images; image representation; nonflat ground surface detection; stereo vision based obstacle detection methods; Cameras; Image segmentation; Intelligent robots; Laser radar; Pixel; Roads; Robot vision systems; Stereo vision; Vehicle detection; Vehicles; V-disparity image; correlation; stereo vision;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354207
