Realtime Obstacle Detection on Pitching Road by Area Division Homography
Shin-ichi WASHIO, Kazuo NAKAZAWA · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2006
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.