ROAD AREA DETECTION METHOD AND SYSTEM FROM A STEREO CAMERA IMAGE AND THE RECORDING MEDIA STORING THE PROGRAM PERFORMING THE SAID METHOD

摘要

PURPOSE: A road area extracting method from a stereo camera image, a device thereof and a recording medium which records a program realizing the method are provided to extract a road area more exactly by removing an obstacle area in a perpendicular disparity image and extracting the road area with Lagrangian support vector regression which a weighted value is applied. CONSTITUTION: A perpendicular disparity image generator(200) generates a perpendicular disparity image with comparison of right and left images of a stereo camera(100). A probablistic disparity filtering unit(300) removes an obstacle area from the perpendicular disparity image. A road area estimator(400) acquires a road function about a road area from the perpendicular disparity image. The road area estimator presumes the road function with WLSVR(Weighted Lagrangian Support Vector Regression). A disparity map generator(500) generates a disparity map.