Pitching Angle Measurement and Obstacle Detection on Slope Road from Single Sequential Road Image

Recently, technology of safe driving assistance is receiving a lot of attention. And recognition of ambient of road by image processing has been actively investigated. However, many of researches limit road conditions, they cannot treat off-road including uncertainly like a slope. This paper proposes the system used for recognition of obstacles on slope road. The basic algorithm is the projection to virtual plane. Using the projective transformation, it changes the taken images into that being looked down from the upper side of the road and the system detects obstacles by calculating the difference value between frames of the transformed image. This paper shows the effectiveness of above-mentioned algorithm by using the real road science. In the result, the influence of the texture was not suffered by the proposed method which divides a slope road image and processes the projected image, and the obstacle was detected.