B-Spline Modeling of Road Surfaces With an Application to Free-Space Estimation
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...
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| Veröffentlicht in: | IEEE Transactions on intelligent transportation systems 2009-12, Vol.10 (4), p.572-583 |
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| container_title | IEEE Transactions on intelligent transportation systems |
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| creator | Wedel, A. Badino, H. Rabe, C. Loose, H. Franke, U. Cremers, D. |
| description | 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. |
| doi_str_mv | 10.1109/TITS.2009.2027223 |
| format | Article |
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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. 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Computational geometry ; Piecewise linear approximation ; Piecewise linear techniques ; Remotely operated vehicles ; Representations ; road surface ; Road transportation and traffic ; Road vehicles ; Roads ; Segmentation ; Spline ; Stereo vision ; Traffic control ; v-disparity ; Vehicles</subject><ispartof>IEEE Transactions on intelligent transportation systems, 2009-12, Vol.10 (4), p.572-583</ispartof><rights>2015 INIST-CNRS</rights><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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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. 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| subjects | Algorithms Applied sciences Approximation Artificial intelligence Availability B-spline Computer science control theory systems Computer vision Exact sciences and technology free space Ground, air and sea transportation, marine construction Layout Mathematical models Parameter estimation Pattern recognition. Digital image processing. Computational geometry Piecewise linear approximation Piecewise linear techniques Remotely operated vehicles Representations road surface Road transportation and traffic Road vehicles Roads Segmentation Spline Stereo vision Traffic control v-disparity Vehicles |
| title | B-Spline Modeling of Road Surfaces With an Application to Free-Space Estimation |
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