Obstacle Detection and Height Estimation Using Fisheye Stereo Camera Considering Intensity Information.

In this paper, we propose a novel method for obstacle detection and height estimation based on disparity and intensity information using a fisheye stereo camera. The method using only disparity information may incorrectly detect road surfaces as obstacles. Therefore, the proposed method detects obstacles by comparing the intensity of the obstacle edges with that of the disparity information. Experimental results show that the proposed method using disparity and intensity information can detect only obstacles without incorrectly detecting road surfaces. It is also shown that the accuracy of the height estimation does not change even though the road surface is not detected incorrectly.