Global Correlation Based Ground Plane Estimation Using V-Disparity Image

— This paper presents the estimation of the position of the ground plane for navigation of on-road or off-road vehicles, in particular for obstacle detection using stereo vision. Ground plane estimation plays an important role in stereo vision based obstacle detection tasks. V-disparity image is widely used for ground plane estimation. However, it heavily relies on distinct road features which may not exist. In here, we introduce a global correlation method to extract the position of the ground plane in V-disparity image even without distinct road features.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Jun Zhao, Jayantha Katupitiya, James Ward
• Keywords: Distinct Road Features, Ground Plane, Ground Plane Estimation, ICRA 2007, Robotics