Clustering and tracking of obstacles from Virtual Disparity Image

The driving support is one of the most important research areas in intelligent transport system (ITS). Moreover, obstacle extraction system is one of most important system. Here, baseline length of our stereovision system is shorter than general one so that the room mirror can cover it. Accordingly, it can be placed unobtrusively and never be unsighted for the driver. Therefore, our stereovision system is suite for interior sensor. In our previous report, we proposed an obstacle extraction method using such stereovision system, and traditional ldquoV-Disparityrdquo approach was extended to more flexible system by using Virtual Disparity Image. Hereby obstacles can be extracted even if the vehicle has large roll movement. In this paper, we will discuss about clustering and tracking method of obstacles.