B-spline modeling of road surfaces with an application to free-space estimation

Authors:
Andreas Wedel;Hernán Badino;Clemens Rabe;Heidi Loose;Uwe Franke;Daniel Cremers
Affiliations:
Environment Perception Group, Daimler Research, Sindelfingen, Germany and Computer Vision Group, University of Bonn, Bonn, Germany;Robotics Institute, Carnegie Mellon University, Pittsburgh, PA;University of Kiel, Kiel, Germany;Environment Perception Group, Daimler Research, Sindelfingen, Germany;Environment Perception Group, Daimler Research, Sindelfingen, Germany;Research Group for Computer Vision, Image Processing, and Pattern Recognition, University of Bonn, Bonn, Germany
Venue:
IEEE Transactions on Intelligent Transportation Systems
Year:
2009

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Abstract

We propose a general technique for modeling the visible road surface in front of a vehicle. The common assumption of a planar road surface is often violated in reality. A workaround proposed in the literature is the use of a piecewise linear or quadratic function to approximate the road surface. Our approach is based on representing the road surface as a general parametric B-spline curve. The surface parameters are tracked over time using a Kalman filter. The surface parameters are estimated from stereo measurements in the free space. To this end, we adopt a recently proposed road-obstacle segmentation algorithm to include disparity measurements and the B-spline road-surface representation. Experimental results in planar and undulating terrain verify the increase in free-space availability and accuracy using a flexible B-spline for road-surface modeling.