B-spline modeling of road surfaces for freespace estimation
- 1 June 2008
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 19310587,p. 828-833
- https://doi.org/10.1109/ivs.2008.4621254
Abstract
In this paper, we propose a general technique for robust modeling of non-planar ground surfaces. It is based on representing the ground plane as a parametric B-Spline surface and on robust tracking of the surface parameters using stereo disparities and a Kalman filter. We adopt a recently published real-time optimization algorithm for finding the road-obstacle boundary to integrate disparity values. The results show that in situations where a planar road assumption yields wrong results due to undulating roads, our approach is able to distinguish between free space and obstacles.Keywords
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