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This paper presents a method to detect a road boundary using stereo images taken at on-vehicle stereo cameras. At first, an area whose height is different from a road plane is extracted by Planar Projection Stereopsis method. Next, boundary points between an obstacle and a road are detected and they are projected to a road plane. A road boundary is estimated in this projected images by the energy minimization method such as Snakes. The degree of a road boundary is calculated at each boundary point in a projected image. Road boundaries are estimated by searching a smooth line which passes on boundary poins whose the degree of a road boundary is high. Experimental results for real road scenes show the effectiveness of the proposed method.

Road Boundary Detection using Planar Projection Stereopsis