Computer Engineering Paper Gwenaelle Toulminet, Abdelaziz Bensrhair, St\'ephane Mousset, Alberto Broggi, and Pierre Mich\'e, Systeme de stereovision pour la detection d'obstacles et de vehicule en temps reel, In Procs. 18th Symposium GRETSI'01 on Signal and Image Processing, Toulouse, France, September 2001.
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ABSTRACT

Within the framework of driving assistance, an obstacle detection method and a vehicle detection method are presented. Based on the configuration of our embedded stereovision system, these two tasks are computed in real time by segmenting sparse depth maps. Obstacles depth map is constructed by thresholding 3D segments inclination angles. Vehicle depth map is constructed using the data of ARGO, the experimental autonomous vehicle developed at the University of Parma.

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