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Road Scene Analysis by Stereovision: a Robust and Quasi-Dense Approach

Road Scene Analysis by Stereovision: a Robust and Quasi-Dense Approach. Nicolas Hautière 1 , Raphaël Labayrade 2 , Mathias Perrollaz 2 , Didier Aubert 2. 1 LCPC – French Research Institute for Public Works 2 INRETS – French National Institute for Research in Transportation and Safety.

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Electrical and Computer Systems Engineering Postgraduate Student Research Forum 2001

Stereo Vision Data i Local map Li Relocalisation &amp; Mapping Odometry i -1  i Global map Gi Global map Gi - 1 2 1 1 1 2 1 G 1 2 1 1 1 2 2 2 2 2 3 4 4 5 6 7 5 5 5 S 7 Depth from camera baseline (not scaled) 6 6 6 6 7

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