Obstacle Detection Based on Occupancy Grid Maps Using Stereovision System

We previously reported on an obstacle detection method using a stereovision system. The system generated disparity images that include three-dimensional spatial information. Using these images, obstacles could be detected, but some false positives were generated. In this paper, we attempt to eliminate this problem and propose a method that generates Occupancy Grid Maps based on measurements from a stereovision system which leads to robust obstacle detection. Furthermore, it is confirmed that high distance accuracy can be achieved by using our method.