Ground Plane Detection with a New Local Disparity Texture Descriptor

Kangru WANG  Lei QU  Lili CHEN  Jiamao LI  Yuzhang GU  Dongchen ZHU  Xiaolin ZHANG  

IEICE TRANSACTIONS on Information and Systems   Vol.E100-D   No.10   pp.2664-2668
Publication Date: 2017/10/01
Publicized: 2017/06/27
Online ISSN: 1745-1361
DOI: 10.1587/transinf.2017EDL8053
Type of Manuscript: LETTER
Category: Pattern Recognition
ground plane detection,  Local Disparity Texture Descriptor (LDTD),  stereo vision,  convolution neural network,  

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In this paper, a novel approach is proposed for stereo vision-based ground plane detection at superpixel-level, which is implemented by employing a Disparity Texture Map in a convolution neural network architecture. In particular, the Disparity Texture Map is calculated with a new Local Disparity Texture Descriptor (LDTD). The experimental results demonstrate our superior performance in KITTI dataset.