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Perception Tool Kit (PTK)
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Algorithm Summary: Ground plane estimation is essentail in automotive applications such as obstacle and freespace detection. This function uses the stereo disparity map to estimate the ground plane, which can then be used to detect free space and obstacles on the ground. In the current implementation, we employ only the V-disparity map,computed using the disparity map from DMPAC SDE (Streo Depth Engine), to find the grond plane because it is simple yet effective.
Inputs/outputs of the function:
A V-disparity map is created by compiling histograms for every row of the disparity map. So its size is (disparity range)x(disparity map height). In the V-disparity map, objects appear as vertical line segments, while the ground plane appears as a slanted line segment. Hence, the ground plane can be estimated by simply modeling this slanted line segment. More details can be found here.