An integrated stereo-based approach to automatic vehicle guidance
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Robust Real-Time Face Detection
International Journal of Computer Vision
B-spline modeling of road surfaces with an application to free-space estimation
IEEE Transactions on Intelligent Transportation Systems
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Binocular vision combined with stereo matching algorithms can be used in vehicles to gather data of the spatial proximity. To utilize this data we propose a new method for modeling the vertical road profile from a disparity map. This method is based on a region-growing technique, which iteratively performs a least-squares fit of a B-spline curve to a region of selected points. We compare this technique to two variants of the v-disparity method using either an envelope function or a planarity assumption. Our findings are that the proposed road-modeling technique outperforms both variants of the v-disparity technique, for which the planarity assumption is slightly better than the envelope version.