Realtime obstacle detection on pitching road by area division homography

Shin Ichi Washio, Kazuo Nakazawa

研究成果: Article査読

抄録

Detecting obstacles on road surfaces is important technology for visual navigation of automomous vehicle. So we propose the method of detecting obstacles using perspective projection with Homography matrix. By using Homography matrix, it is possible to detect obstacles on horizontally planer road only. But road is not always flat. Therefore, we expand the method for detecting obstacle on the pitching road. Analizing projection error, we divide pitching road into multi-planer and project with Homography matrix onto each area.

本文言語English
ページ(範囲)499-505
ページ数7
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
72
2
DOI
出版ステータスPublished - 2006 2

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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