Mixed road surface model for driving assistance systems

The problem of road/obstacle separation of 3D points is revisited in this paper, in the context of driving assistance systems and dense stereovision. We propose some measures to cope with scenarios where only few road points are recovered in 3D, or the road has an atypical geometry. When a non-planar road model is employed, e.g. a quadratic road surface, the vertical profile of the road is usually reliable for the 3D region that contains the road inliers. Therefore, using this surface for obstacle/road separation outside the inliers region is less reliable. Our solution is a mixed road model: the quadratic road surface is filtered temporally and extended with a planar patch to cover the whole space of interest. The planar surface used for extension is computed from the parameters of the quadratic surface.

[1]  Z. Hu,et al.  U-V-disparity: an efficient algorithm for stereovision based scene analysis , 2005, IEEE Proceedings. Intelligent Vehicles Symposium, 2005..

[2]  J. Goldbeck,et al.  Lane detection and tracking by video sensors , 1999, Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems (Cat. No.99TH8383).

[3]  Sergiu Nedevschi,et al.  Processing Dense Stereo Data Using Elevation Maps: Road Surface, Traffic Isle, and Obstacle Detection , 2010, IEEE Transactions on Vehicular Technology.

[4]  Jitendra Malik,et al.  An integrated stereo-based approach to automatic vehicle guidance , 1995, Proceedings of IEEE International Conference on Computer Vision.

[5]  T. Williamson.  A high-performance stereo vision system for obstacle detection , 1998 .

[6]  Sergiu Nedevschi,et al.  Road Surface and Obstacle Detection Based on Elevation Maps from Dense Stereo , 2007, 2007 IEEE Intelligent Transportation Systems Conference.

[7]  Didier Aubert,et al.  A single framework for vehicle roll, pitch, yaw estimation and obstacles detection by stereovision , 2003, IEEE IV2003 Intelligent Vehicles Symposium. Proceedings (Cat. No.03TH8683).

[8]  Jean-Philippe Tarel,et al.  Real time obstacle detection in stereovision on non flat road geometry through "v-disparity" representation , 2002, Intelligent Vehicle Symposium, 2002. IEEE.

[9]  John Hancock.  High-Speed Obstacle Detection for Automated Highway Applications , 1997 .

[10]  Alberto Broggi,et al.  The Single Frame Stereo Vision System for Reliable Obstacle Detection Used during the 2005 DARPA Grand Challenge on TerraMax , 2006, 2006 IEEE Intelligent Transportation Systems Conference.

[11]  Romuald Aufrère,et al.  A model-driven approach for real-time road recognition , 2001, Machine Vision and Applications.