liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Road Surface Modeling using Stereo Vision
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Modellering av Vägyta med hjälp av Stereokamera (Swedish)
Abstract [en]

Modern day cars are often equipped with a variety of sensors that collect information about the car and its surroundings. The stereo camera is an example of a sensor that in addition to regular images also provides distances to points in its environment. This information can, for example, be used for detecting approaching obstacles and warn the driver if a collision is imminent or even automatically brake the vehicle. Objects that constitute a potential danger are usually located on the road in front of the vehicle which makes the road surface a suitable reference level from which to measure the object's heights. This Master's thesis describes how an estimate of the road surface can be found to in order to make these height measurements.

The thesis describes how the large amount of data generated by the stereo camera can be scaled down to a more effective representation in the form of an elevation map. The report discusses a method for relating data from different instances in time using information from the vehicle's motion sensors and shows how this method can be used for temporal filtering of the elevation map. For estimating the road surface two different methods are compared, one that uses a RANSAC-approach to iterate for a good surface model fit and one that uses conditional random fields for modeling the probability of different parts of the elevation map to be part of the road. A way to detect curb lines and how to use them to improve the road surface estimate is shown. Both methods for road classification show good results with a few differences that are discussed towards the end of the report. An example of how the road surface estimate can be used to detect obstacles is also included.

Place, publisher, year, edition, pages
2012. , 68 p.
Keyword [en]
Stereo camera, Digital Elevation map, Temporal filtering, Curb detection, Road surface classification, Random sample consensus, Conditional random fields, Obstacle detection
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-78455ISRN: LiTH-ISY-EX--12/4582--SEOAI: oai:DiVA.org:liu-78455DiVA: diva2:532767
External cooperation
Autoliv Electronics
Subject / course
Automatic Control
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-06-12 Created: 2012-06-12 Last updated: 2012-06-19Bibliographically approved

Open Access in DiVA

RoadSurfaceModelingUsingStereoVision(25701 kB)1202 downloads
File information
File name FULLTEXT01.pdfFile size 25701 kBChecksum SHA-512
1fda448a5b86a93332cc38407d9cd745ae45cd8f881c0b6e2eea453ab10ce26d7587b7ab30415992949db1d496c81b8e231e66a4e78739cbdf7a7c06394a81fa
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Lorentzon, MattisAndersson, Tobias
By organisation
Automatic ControlThe Institute of Technology
Other Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 1202 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 1594 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf