Fast And Accurate Stereo Vision-Based Estimation Of 3D Position And Axial Motion Of Road Obstacles

In this article, we present a fast and accurate stereo vision-based system that detects and tracks road obstacles, as well as computes their 3D position and their axial motion. To do so, axial motion maps are constructed and the inclination angles of 3D straight segments are computed. 3D straight segments are obtained after the construction of 3D sparse maps based on dynamic programming and multi-criteria analysis. Axial motion maps are computed from a sequence of dense 3D maps without region matching.