Stereo Vision Based Road Free Space Detection

A stereo vision based road free space detection method was proposed in this paper. In the method, we firstly use semi global stereo matching to get disparity map, which then is projected to V disparity. Secondly, we use a modified Hough Transformation method to detect slope line to model road surface in V disparity map, then detect the vanishing line via road surface model and eliminate road and sky area in disparity map. Thirdly, the processed disparity map was projected to get U disparity, and in which we select intersection points of road and obstacles. Finally, dynamic programming was utilized to optimize best intersection line, which then were projected back to get free space boundary. The experimental results on KITTI datasets show that, the method can correctly detect free space boundary, and get remarkable results.