Free space estimation for autonomous navigation
Résumé
One of the issue in autonomous navigation is the free space estimation. This paper presents an original framework and a method for the extraction of such an area by using a stereovision system. The v-disparity algorithm is extended to provide a reliable and precise road profile on all types of roads. The free space is estimated by classifying the pixels of the disparity map. This classification is performed by using the road profile and the u-disparity image. Each stage of the algorithm is presented and experimental results are shown.