AN ROAD ANALYSIS AND OBJECT DETECTION SYSTEM USING STEREOVISION CAMERA

摘要

PURPOSE: A surface estimation using a stereo camera and an object detection system thereof are provided to estimate the ground surface as a plane function, thereby managing an unstable situation. CONSTITUTION: Displacement image generation units(12-14) generate a u-displacement image and a v-displacement image from a stereo image obtained from a stereo camera(11). Surface area determination units(15,16) determine a surface area from the output image of a displacement image generation unit and generate a function of the surface area. Detection units(17-19) separate the surface area from an object area and detect the surface, a traffic lane, and an object. [Reference numerals] (11) Stereo camera; (12) Displacement image generation unit; (13) Laminate U-displacement generation unit; (14) Laminate V-displacement generation unit; (15) Surface area determination unit; (16) Surface area function generation unit; (17) Surface area and object area separation unit; (18) Surface area and lane detection unit; (19) Object detection unit;