本文介绍了Disparities Matching Score的概念及其在障碍物检测和自由空间计算中的应用。通过匹配得分来寻找障碍物边界的最佳视差值，结合边缘方向的稳定性提高匹配效果。算法结合了图像基和视差基的匹配方法，以应对光照变化和纹理区域的挑战。在平面道路假设下，该方法在近处环境表现良好，但对远处地面高度变化的建模不足。
08.B-Spline Modeling of Road Surfaces for Freespace Estimation
96.A space-sweep approach to true multi-image matching.
98.Detection of Small Obstacles at Long Range Using Multibaseline Stereo
07.
It is based on
the plane sweep idea,
He applied an edge filter on the
input images and provided a geometric reconstruction of
the scene. For every disparity value d the pixel (u;v) in
the left image is compared with the pixel (u+d;v) in the
right image. This corresponds to shifting the right image
over the left image,
Clearly, only obstacles with
the correct disparity value are in focus and the gray values
in the right and left images coincide. All other regions of the
A global optimiazion
algorithm for real-time on-board stereo obstacle detection systems
The goal of free space calculation is to find the disparity value d of the obstacles which bound the free space. This disparity value may be different for every image column. For the image row, where the foot point of an obstacle touches the ground, this disparity becomes the same as the disparity value of the road surface.
The goal is to find the boundary v(d) respectively disparity
d for every image column u which describes the free space
as consistently as possible.
The best boundary is given
by a maximal matching score. The key idea is to sum up a
matching score for the road surface from the image bottom
to the boundary and to sum up the matching score for objects
with disparity d from the boundary in the image on upwards.
The total score for row u and disparity d therefore writes as:
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