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longitudinalroadprofileestimation's Introduction

Longitudinal Road Profile Estimation

Abstract

A new method for non-flat modeling of the longitudinal road profile in front of a vehicle is proposed. Based on a disparity image the profile is modeled in V-Disparity space by using uniform cubic B-Splines. The model is tracked over time using a Kalman Filter. The result is a model of the road profile in camera coordinates, and based on it an elevation map of the environment relative to the road surface. The proposed system is real-time capable and is verified by real test runs.

Thesis

Diploma Thesis

Code Tags

  • C++
  • Open CV
  • Multicore with openMP
  • Vectorization with SSE

Video

https://www.youtube.com/watch?v=FKZfKfjN2Kk

longitudinalroadprofileestimation's People

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