We propose a general technique for modeling the visible road surface in front of a vehicle. The common assumption of a planar road surface is often violated in reality. A workaround proposed in the literature is the use of a piecewise linear or quadratic function to approximate the road surface. Our approach is based on representing the road surface as a general parametric B-spline curve. The surface parameters are tracked over time using a Kalman filter. The surface parameters are estimated from stereo measurements in the free space. To this end, we adopt a recently proposed road-obstacle segmentation algorithm to include disparity measurements and the B-spline road-surface representation. Experimental results in planar and undulating terrain verify the increase in free-space availability and accuracy using a flexible B-spline for road-surface modeling.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    B-Spline Modeling of Road Surfaces With an Application to Free-Space Estimation


    Beteiligte:
    Wedel, A. (Autor:in) / Badino, H. (Autor:in) / Rabe, C. (Autor:in) / Loose, H. (Autor:in) / Franke, U. (Autor:in) / Cremers, D. (Autor:in)


    Erscheinungsdatum :

    2009-12-01


    Format / Umfang :

    1131431 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    B-Spline Modeling of Road Surfaces With an Application to Free-Space Estimation

    Wedel, A. / Badino, H. / Rabe, C. et al. | British Library Conference Proceedings | 2009


    B-spline modeling of road surfaces for freespace estimation

    Wedel, Andreas / Franke, Uwe / Badino, Hernan et al. | IEEE | 2008


    B-Spline Modeling of Non-Planar Road Surfaces

    Wedel, A. / Franke, U. / Badino, H. et al. | British Library Conference Proceedings | 2008