Stereoscopic Roadside Curb Height Measurement using V-Disparity

摘要

Managing road assets, such as roadside curbs, is one of the interests of municipalities. As an interesting application of computer vision, this paper proposes a system for automated measurement of the height of the roadside curbs. The developed system uses the spatial information available in the disparity image obtained from a stereo setup. Data about the geometry of the scene is extracted in the form of a row-wise histogram of the disparity map. From parameterizing the two strongest lines, each pixel can be labeled as belonging to one plane, either ground, sidewalk or curb candidates. Experimental results show that the system can measure the height of the roadside curb with good accuracy and precision.