A new method for non-flat modeling of the longitudinal road profile in front of a vehicle is proposed. Based on a disparity image the profile is modeled in V-Disparity space by using uniform cubic B-Splines. The model is tracked over time using a Kalman Filter. The result is a model of the road profile in camera coordinates, and based on it an elevation map of the environment relative to the road surface. The proposed system is real-time capable and is verified by real test runs.
- C++
- Open CV
- Multicore with openMP
- Vectorization with SSE