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Publications from the Chair of Electronic Measurement and Diagnostic Technology

Road Surface Reconstruction by Stereo Vision
Citation key HaukeBrunken.2020
Author Brunken, Hauke and Gühmann, Clemens
Pages 433–448
Year 2020
ISSN 2512-2819
DOI \url10.1007/s41064-020-00130-z
Journal PFG – Journal of Photogrammetry, Remote Sensing and Geoinformation Science
Volume 88
Number 6
Abstract This paper covers the problem of road surface reconstruction by stereo vision with cameras placed behind the windshield of a moving vehicle. An algorithm was developed that employs a plane-sweep approach and uses semi-global matching for optimization. Different similarity measures were evaluated for the task of matching pixels, namely mutual information, background subtraction by bilateral filtering, and Census. The chosen sweeping direction is the plane normal of the mean road surface. Since the cameras' position in relation to the base plane is continuously changing due to the suspension of the vehicle, the search for the base plane was integrated into the stereo algorithm. Experiments were conducted for different types of pavement and different lighting conditions. Results are presented for the target application of road surface reconstruction, and they show high correspondence to laser scan reference measurements. The method handles motion blur well, and elevation maps are reconstructed on a millimeter-scale, while images are captured at driving speed.
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