Study of Free Space Detection for Narrow Roads Driving Support System
Kodai Matsukawa, Kosei Nojiri, Hirofumi Ohtsuka · 2018
Free space detection is one of the techniques for constructing safe driving support and autonomous driving. In this paper, we focus on narrow roads and describe the free space detection algorithm for constructing a narrow road driving support system. By installing the stereo camera in front of the vehicle, it is possible to perform object recognition and distance measurement without other external sensors. The installation position of the camera and the pitch angle of the camera are also used for detection of free space. The evaluation method is performed by comparing the detection result image with the previously prepared correct answer image. We are considering two kinds of evaluation methods based on the area and contour of free space.