Driving space detection by combining V-disparity and C-velocity - Archive ouverte HAL Access content directly
Conference Papers Year : 2015

Driving space detection by combining V-disparity and C-velocity


This paper deals with road plane detection by image analysis in the context of automatic driver assistance systems. In this context, free navigable space detection is a very important step for any navigation and obstacle detection system. We propose a low-level combination of two main visual processes: stereovision and motion. We define a common representation that allows simple projections of stereo information to easy-interpretable features in a motion space. We chose to combine two robust cumulative techniques: the stereo-based approach V-disparity and the motion-based approach C-velocity. The combination requires the definition of a common formalism. Results on synthetic image sequences and on KITTI database images reveal that our approach is more efficient than a higher level combination method. We show that it is possible, using no prior knowledge nor any calibration, to improve detection by a low cost method that exploits only image processing and a very simple stereo and motion combination.
No file

Dates and versions

hal-01319728 , version 1 (22-05-2016)



Houssem Eddine Deghdache, Samia Bouchafa. Driving space detection by combining V-disparity and C-velocity. IEEE International Conference on Vehicular Electronics and Safety (ICVES 2015), Nov 2015, Yokohama, Japan. pp.219--224, ⟨10.1109/ICVES.2015.7396921⟩. ⟨hal-01319728⟩
43 View
0 Download



Gmail Facebook Twitter LinkedIn More