Matching free stereovision for detecting obstacles on a ground plane

This paper presents a method for detecting obstacles on a ground plane from a stereo pair of images. Although we use stereovision, the obstacle detection algorithm relies neither on stereo matching nor 3D reconstruction. The principle here is to apply the projective transformation constraining the left and right images to obtain a frame of superimposed features (e.g. edges). By analysing feature superimposition after the projective transformation, a free moving space or space occupied by obstacles/occluded features can be determined.