Ground Plane Estimation Based on Dense Stereo Disparity

Abstract

In the paper we present an approach to the ground plane parameters estimation and tracking by the moving observer. The method is based entirely on stereo disparity information and assumes only presence of the textured dominant planar surface in the lower part of the screen, which is not severe restriction in real-world scenarios. The main idea of the proposed approach consists of disparity plane estimation and its conversion into the ground plane. Proposed method does not use a-priori knowledge of the scene appearance (e.g., lane markings, horizon line, presence of the vertical planes) and thus can be applied in the wide range of scenarios.