Stereo without search and calibration

摘要

We propose a new stereo method for a vehicle to extract free space without depth search and calibration. In case of static cameras, there is such a method based on a constraint of the grand plane (GP constraint) derived by a set of corresponding points in advance. However the GP constraint is often violated due to the movement of vehicle: vibrations and road inclination. To solve this problem we develop a fast algorithm which updates the GP constraint using two lines only.