Abstract
One of the issues in autonomous navigation is the free space estimation. This paper presents an original framework and a method for the extraction of such an area by using a stereovision system. The v- disparity algorithm is extended to provide a reliable and precise road pro¯le on all types of roads. The free space is estimated by classifying the pixels of the disparity map. This classi¯cation is performed by using the road pro¯le and the u-disparity image. Each stage of the algorithm is presented and experimental results are shown.
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