Abstract:
This paper presents a method for the computation of free
space in complex traffic scenarios. Dynamic depth information
is estimated by integrating stereo disparity images over
time. Disparity and disparity speed are computed pixelwise
with Kalman filters. The stereo information is used
to compute stochastic occupancy grids. Dynamic programming
on a polar-like occupancy grid yield the free space.
Analysis of the calculated free space allows the detection of
the available free corridor in front of the ego-vehicle. The
method runs at a frame rate of 20 Hz in our demonstrator
vehicle.
Description:
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