IPSJ Transactions on Computer Vision and Applications
Online ISSN : 1882-6695
ISSN-L : 1882-6695
3D Road Boundary Detection Using Conformal Geometric Algebra
Hiroyuki IshidaJun-ichi MeguroYoshiko KojimaTakashi Naito
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2013 Volume 5 Pages 176-182


This paper presents a novel method for detecting 3D road boundaries, such as walls, guardrails, and curbs, using on-board stereo cameras. The proposed method uses conformal geometric algebra, which can describe different shapes in a common representation. 3D road boundaries on straight and curved roads are seamlessly detected by use of this representation, and this framework is also applied to curb detection by a subtle modification. Experimental results show that despite its algorithmic simplicity, the proposed method exhibited competitive detection performance compared with conventional model fitting and curb detection methods.

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© 2013 by the Information Processing Society of Japan
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