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Free Space Estimation for Autonomous Navigation

Abstract : One of the issues in autonomous navigation is the free space estimation. This paper presents an original framework and a method for the extraction of such an area by using a stereovision system. The v- disparity algorithm is extended to provide a reliable and precise road pro¯le on all types of roads. The free space is estimated by classifying the pixels of the disparity map. This classi¯cation is performed by using the road pro¯le and the u-disparity image. Each stage of the algorithm is presented and experimental results are shown.
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Submitted on : Thursday, January 24, 2013 - 3:39:15 PM
Last modification on : Wednesday, July 6, 2022 - 4:22:33 AM
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  • HAL Id : hal-00780658, version 1


Nicolas Soquet, Mathias Perrollaz, Raphaël Labayrade, Didier Aubert. Free Space Estimation for Autonomous Navigation. 5th International Conference on Computer Vision Systems, 2007, Bielefeld, Germany. ⟨hal-00780658⟩



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