Method for representation of environment of vehicle, involves forming segments of same width from image points of equal distance in one of image planes, and modeling objects present outside free space in environment

摘要

The method involves identifying an unobstructed free space (F) from a disparity image by assigning an image point of the disparity image either to an unobstructed base surface (B) or one of segments depending on disparity values. The segments of same width are formed from image points of equal distance in one of image planes (E1-E3). Objects (O1-Ok) present outside the free space are modeled in an environment (U). The segments are arranged over each other in each of gaps of the disparity image. The gaps are determined independent of each other during dynamic programming.