Detection of non-flat ground surfaces using V-disparity images

Zhao J; Whitty M; Katupitiya J, 2009, 'Detection of non-flat ground surfaces using V-disparity images', 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 4584 - 4589, United States

Abstract / Description

Ground plane detection plays an important role in stereo vision based obstacle detection methods. Recently, V-Disparity image has been widely used for ground plane detection. The existing approach based on V-Disparity image can detect flat ground successfully but have difficulty in detecting non-flat ground. In this paper, we discuss the representation of non-flat ground in V-Disparity image, based on which we propose a method to detect non-flat ground using V-Disparity image. © 2009 IEEE.

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