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Abstract

An image collection system collects stereo image data comprising left image data and right image data of a particular scene. An estimator estimates a reference three dimensional image density rating for corresponding reference volumetric cell within the particular scene at a reference range from an imaging unit. An image density compensator compensates for the change in image density rating between the reference volumetric cell and an evaluated volumetric cell by using a compensated three dimensional image density rating based on a range or relative displacement between the reference volumetric cell and the evaluated volumetric cell. An obstacle detector identifies a presence or absence of an obstacle in a particular compensated volumetric cell in the particular scene if the particular compensated volumetric cell meets or exceeds a minimum three dimensional image density rating

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