Billboard sweep stereo for obstacle detection in road scenes

K. H. Won, S. K. Jung

Research output: Contribution to journalArticlepeer-review

9 Scopus citations

Abstract

An algorithm for stereo-based obstacle detection in a general road scene is proposed. In the proposed algorithm, the vertical obstacles on a horizontal ground surface are defined as billboard planes, and the distant environment is modelled using a background wall. During stereo matching, each image pixel has a disparity value which is the distance to the billboard or the slope of the ground surface. The algorithm finally obtains a set of the billboard planes and efficiently manages them using frame coherence. Experimental results show that the use of billboard planes can effectively reduce the search range of disparities. Also, the proposed method produces reliable range data in accordance the KITTI benchmark.

Original languageEnglish
Pages (from-to)1528-1530
Number of pages3
JournalElectronics Letters
Volume48
Issue number24
DOIs
StatePublished - 22 Nov 2012

Fingerprint

Dive into the research topics of 'Billboard sweep stereo for obstacle detection in road scenes'. Together they form a unique fingerprint.

Cite this