3D-Segmentation of Traffic Environments with U/V-Disparity supported by Radar-given Masterpoints

Conference paper


Michael Teutsch
Thomas Heger
Thomas Schamm
J. Marius Zöllner


Proceedings of IEEE Intelligent Vehicles Symposium, 2010.




IEEE Intelligent Vehicles Symposium, San Diego, USA, June 21 - 24, 2010

3D-segmentation of a traffic scene with two-dimensional row- and column-disparity-histograms, namely u/v-disparities, has become more and more popular for modern stereo-camera-based driver assistance systems due to its fast computation in real-time, few memory requirements and robustness against noisy or intermittent data. In this paper, we present a novel approach to support this pure vision-based method by projecting preprocessed radar-signals directly to udisparity- space. We called the projection result "masterpoints". This data fusion on low feature-level improved the segmentation process and increased the obstacle detection rate significantly. No assumptions about obstacle-type or -size are needed. Furthermore, the algorithms can be parallelized easily and run in real-time.