菜鸟看论文——U-V-Disparity与地面检测、相机姿态估计

参考：

02.Real time obstacle detection on non flat road geometry through v-disparity representation

03.In-vehicle obstacles detection and characterization by stereovision

03.A single framework for vehicle roll, pitch, yaw estimation and obstacles detection by stereovision

13.Complex ground plane detection based on V-disparity map in off-road environment

首先，本部分ppt是由我的师妹王童鞋制作，此处应有掌声~

一、U-V-Disparity基础知识

 
 

 

 

 

 

 

 

 

 

注意，此处的（x,y,z）没有实际意义，其实是(u*Zc，v*Zc,Zc）的简写而已，所以求(u,v)时候需要经过下一步才行：

 其中z=Zc。  

二、 地面估计

参考：

02.Real time obstacle detection on non flat road geometry through v-disparity representation