Title:	ROAD OBSTACLE DETECTION USING DISPARITY MAP AND EDGE INFORMATION
Author(s):	Chung-Hee Lee, Young-Chul Lim, Jonghwan Kim
ISBN:	978-972-8939-74-8
Editors:	Yingcai Xiao
Year:	2012
Edition:	Single
Keywords:	Obstacle detection, height limited column detection, obstacle segmentation, disparity map, edge information, stereo vision
Type:	Poster/Demonstration
First Page:	191
Last Page:	194
Language:	English
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Paper Abstract:	In this paper, we propose a road obstacle detection method using a disparity map and edge information. Though we use a dense disparity map to improve obstacle detection performance, it is not easy to detect road obstacles accurately because of inaccurate disparity map. Furthermore, it is more difficult to detect long distance obstacles. Thus, we use another good segmentation cue, namely edge information. And we also propose a height limited column detection method to detect only certain road obstacles. Our method consists of three stages, namely feature extraction, obstacle detection using the height limited column detection and obstacle segmentation using a disparity map and edge information. To verify our method, we conduct experiments using real traffic images captured by our stereo vision system installed in a real vehicle.
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