Accurate vertical road profile estimation using v-disparity map and dynamic programming

Ji Yeol Park, Se Song Kim, Chee Sun Won, Seung Won Jung

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

Detecting obstacles on the road is crucial for the advanced driver assistance systems. Obstacle detection on the road can be greatly facilitated if we have a vertical road profile. Therefore, in this paper, we present a novel method that can estimate an accurate vertical road profile of the scene from the stereo images. Unlike conventional stereo-based road profile estimation methods that heavily rely on a parametric model of the road surface, our method can obtain a road profile for an arbitrary complicated road. To this end, an energy function that includes the stereo matching fidelity and spatio-temporal smoothness of the road profile is presented, and thus the road profile is extracted by maximizing the energy function via dynamic programming. The experimental results demonstrate the effectiveness of the proposed method.

Original languageEnglish
Title of host publication2017 IEEE 20th International Conference on Intelligent Transportation Systems, ITSC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)9781538615256
DOIs
StatePublished - 2 Jul 2017
Event20th IEEE International Conference on Intelligent Transportation Systems, ITSC 2017 - Yokohama, Kanagawa, Japan
Duration: 16 Oct 201719 Oct 2017

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume2018-March

Conference

Conference20th IEEE International Conference on Intelligent Transportation Systems, ITSC 2017
Country/TerritoryJapan
CityYokohama, Kanagawa
Period16/10/1719/10/17

Keywords

  • dynamic programming
  • ground depth estimation
  • road surface detection
  • stereo matching
  • v-disparity map
  • vertical road profile

Fingerprint

Dive into the research topics of 'Accurate vertical road profile estimation using v-disparity map and dynamic programming'. Together they form a unique fingerprint.

Cite this