Robust regression and outlier detection
Robust regression and outlier detection
Stereo Vision-based approaches for Pedestrian Detection
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
Stereo-Based Ego-Motion Estimation Using Pixel Tracking and Iterative Closest Point
ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
Real-time disparity contrast combination for onboard estimation of the visibility distance
IEEE Transactions on Intelligent Transportation Systems
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
IEEE Transactions on Image Processing
IEEE Transactions on Image Processing
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This paper presents a comparative study between two road approximation techniques--planar surfaces--from stereo vision data. The first approach is carried out in the v-disparity space and is based on a voting scheme, the Hough transform. The second one consists in computing the best fitting plane for the whole 3D road data points, directly in the Euclidean space, by using least squares fitting. The comparative study is initially performed over a set of different synthetic surfaces (e.g., plane, quadratic surface, cubic surface) digitized by a virtual stereo head; then real data obtained with a commercial stereo head are used. The comparative study is intended to be used as a criterion for fining the best technique according to the road geometry. Additionally, it highlights common problems driven from a wrong assumption about the scene's prior knowledge.