勾配変化のある道路の領域分割平面射影による実時間障害物検出

抄録

Detecting obstacles on road surfaces is important technology for visual navigation of automomous vehicle. So we propose the method of detecting obstacles using perspective projection with Homography matrix. By using Homography matrix, it is possible to detect obstacles on horizontally planer road only. But road is not always flat. Therefore, we expand the method for detecting obstacle on the pitching road. Analizing projection error, we divide pitching road into multi-planer and project with Homography matrix onto each area.