Detection of non-flat ground surfaces using V-disparity images

Authors:
Jun Zhao;Mark Whitty;Jayantha Katupitiya
Affiliations:
ARC Centre of Excellence for Autonomous Systems, School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW, Australia;ARC Centre of Excellence for Autonomous Systems, School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW, Australia;ARC Centre of Excellence for Autonomous Systems, School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW, Australia
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 4
Cited 1

A Real-Time Vehicle Detection and Tracking System in Outdoor Traffic Scenes

ICPR '04 Proceedings of the Pattern Recognition, 17th International Conference on (ICPR'04) Volume 2 - Volume 02
A Stereovision Method for Obstacle Detection and Tracking in Non-Flat Urban Environments

Autonomous Robots
Obstacle Detection with Stereo Vision for Off-Road Vehicle Navigation

CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
Vehicle detection by means of stereo vision-based obstacles features extraction and monocular pattern analysis

IEEE Transactions on Image Processing

Object distance estimation based on stereo vision and color segmentation with region matching

ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part III

Quantified Score

Hi-index	0.00

Visualization

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.