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Estimation of Longitudinal Profile of Road Surface from Stereo Disparity using Dijkstra Algorithm

Ki-Yong Lee, Jeong-Min Park, and Joon-Woong Lee*
International Journal of Control, Automation, and Systems, vol. 12, no. 4, pp.895-903, 2014

Abstract : A novel algorithm capable of estimating the profile of the road surface along the camera-viewing direction is proposed. When a disparity map from stereo matching is given, the algorithm estimates the profile precisely by applying the Dijkstra algorithm to a v-disparity representation. Although the road surface is very changeable, many algorithms of road scene analysis have relied on flat-road assumption or have estimated the profile roughly. The combination of the Dijkstra algorithm and a v-disparity representation contributes to eliminating such assumption and limit. We demonstrated the validity of the proposed algorithm by performing experiments with many road images.

Keyword : Dijkstra algorithm, longitudinal profile of road surface, stereo vision, v-disparity representation.

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