Obstacle map generation using Virtual Disparity Image for non-flat road

The driving support is one of most important research area in intelligent transport system (ITS). Moreover, obstacle extraction system is one of most important system. In our previous report, we proposed an obstacle extraction method using stereovision system. In this system, traditional ldquoV-disparityrdquo approach was extended to more flexible system by using virtual disparity image. Hereby obstacles can be extracted even if the vehicle has large roll movement. However, our system has still problem when a road shape cannot be approximated as a flat plane. In this paper, we propose road shape recognition method using dynamic programming (DP) and our method is extended to a new method suitable for a non-flat road.