Fig. 1. Flowchart of the proposed method.
Fig. 2. Operation of the Sobel vertical mask in a disparity image; (a) Obstacle area, (b) Road area.
Fig. 3. Removing obstacles in a disparity image.
Fig. 4. Horizontal line determination process; (a) Initial v-disparity image, (b) V-disparity image after removing noises, (c) Horizontal line in the v-disparity image.
Fig. 5. Refinement of disparities corresponding to road area.
Fig. 6. Free space detection.
Fig. 7. Process of vegetation detection; (a) Color image, (b) Image binarized by a channel of CIELAB color space, (c) Result of vegetation detection.
Fig. 8. Result of the proposed drivable area detection method with vegetation area removal.
Fig. 9. Results of drivable area detection; (a) Result of [10], (b) Result of the proposed free space detection method, (c) Vdisparity image.
Fig. 10. Results of drivable area detection; (a) Result of [10], (b) Result of the proposed free space detection method, (c) Vdisparity image.
Fig. 11. Results of the proposed methods; (a) Results of free space detection method, (b) Results of drivable area detection method with vegetation area removal.
Fig. 12. Results of the proposed drivable area detection method.
Table 1. Comparison of results of drivable area detection.
Table 2. Comparison of results of the proposed methods with and without vegetation area removal.
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