An Obstacle Detection and Distance Measurement Method for Sloped Roads Based on VIDAR

Figure 9

Obstacle detection based on VIDAR and digital map. (a) Two images collected during the movement of the vehicle. (b) Lane line detection on the image and extraction of the detection range. (c) Feature point detection and matching on the images within the range. (d) Extraction of feature points. (e) Determination of whether the extracted feature points have height. (f) Removal of feature points without height. (g) Morphological processing on feature points. (h) Tracking of the lowest point of obstacles.