TY - GEN
T1 - B-Spline modeling of road surfaces for freespace estimation
AU - Wedel, Andreas
AU - Franke, Uwe
AU - Badino, Hernán
AU - Cremers, Daniel
PY - 2008
Y1 - 2008
N2 - In this paper, we propose a general technique for robust modeling of non-planar ground surfaces. It is based on representing the ground plane as a parametric B-Spline surface and on robust tracking of the surface parameters using stereo disparities and a Kalman filter. We adopt a recently published real-time optimization algorithm for finding the road-obstacle boundary to integrate disparity values. The results show that in situations where a planar road assumption yields wrong results due to undulating roads, our approach is able to distinguish between free space and obstacles.
AB - In this paper, we propose a general technique for robust modeling of non-planar ground surfaces. It is based on representing the ground plane as a parametric B-Spline surface and on robust tracking of the surface parameters using stereo disparities and a Kalman filter. We adopt a recently published real-time optimization algorithm for finding the road-obstacle boundary to integrate disparity values. The results show that in situations where a planar road assumption yields wrong results due to undulating roads, our approach is able to distinguish between free space and obstacles.
UR - http://www.scopus.com/inward/record.url?scp=57749184794&partnerID=8YFLogxK
U2 - 10.1109/IVS.2008.4621254
DO - 10.1109/IVS.2008.4621254
M3 - Conference contribution
AN - SCOPUS:57749184794
SN - 9781424425693
T3 - IEEE Intelligent Vehicles Symposium, Proceedings
SP - 828
EP - 833
BT - 2008 IEEE Intelligent Vehicles Symposium, IV
T2 - 2008 IEEE Intelligent Vehicles Symposium, IV
Y2 - 4 June 2008 through 6 June 2008
ER -