FREE SPACE DETECTION SYSTEM AND METHOD FOR A VEHICLE USING STEREO VISION
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United States of America Patent
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Issued Date -
Mar 13, 2014
app pub date -
Sep 11, 2012
filing date -
Sep 11, 2012
priority date (Note) -
Abandoned
status (Latency Note)
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Abstract
In free space detection system and method for a vehicle, left and right images captured from the vehicle environment in a direction of travel of the vehicle are transformed to obtain a depth image with disparity values. The depth image is transformed to obtain a road function and an occupancy grid map. A cost estimation value corresponding to each disparity value on the same image column in a detecting area of the occupancy grid map is estimated using a cost function and the road function such that initial boundary disparity values each defined by one disparity value on the same image column whose the cost estimation value is maximum are optimized to obtain optimized boundary disparity values by which a free space is determined.
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