PT Unknown
AU Angel Sappa
   Rosa Herrero
   Fadi Dornaika
   David Geronimo
   Antonio Lopez
TI Road Approximation in Euclidean and v-Disparity Space: A Comparative Study
BT EUROCAST2007, Workshop on Cybercars and Intelligent Vehicles
PY 2007
BP 368–369
AB This paper presents a comparative study between two road approximation techniques—planar surfaces—from stereo vision data. The first approach is carried out in the v-disparity space and is based on a voting scheme, the Hough transform. The second one consists in computing the best fitting plane for the whole 3D road data points, directly in the Euclidean space, by using least squares fitting. The comparative study is initially performed over a set of different synthetic surfaces(e.g., plane, quadratic surface, cubic surface) digitized by a virtual stereo head; then real data obtained with a commercial stereo head are used. The comparative study is intended to be used as a criterion for fining the best technique according to the road geometry. Additionally, it highlights common problems driven from a wrong assumption about the scene’s prior knowledge.
ER