Robust Obstacle Detection based on Dense Disparity Maps

Obstacle detection is an important component for many autonomous vehicle navigation systems. Several methods for obstacle detection have been proposed using various active sensors such as radar, sonar and laser range finders. Vision based techniques have the advantage of low cost and provide a large amount of information about the environment around an intelligent vehicle. This paper deals with the development of an accurate and efficient vision based obstacle detection method which relies on a wavelet analysis. The development system will be integrated on the Cybercar platform which is a road vehicle with fully automated driving capabilities