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Abstract-We present in this article a simple method to estimate an IPM view from an embedded camera. The method is based on the tracking of the road markers assuming that the road is locally planar. Our aim is the development of a freespace estimator which can be implemented in an Autonomous Guided Vehicle to allow a safe path planning. Opposite to most of the obstacle detection methods which make assumptions on the shape or height of the obstacles, all the scene elements above the road plane (particularly kerbs and poles) have to be detected as obstacles. Combined with the IPM tranformation, this obstacle detection stage can be viewed as the first stage of a free-space estimator dedicated to AGV in the complex urban environments.

Abstract-We present in this article an original method to reconstruct the road in the specific context of urban environment thanks to the data provided by an uncalibrated stereo-vision system. The method consists on extracting then tracking features (points, lines) from the road and estimate the homography induced by the plane between two poses. The purposed method copes with the dense traffic conditions: the free space required (first ten meters in front of the vehicle) is slightly equivalent to the security distance between two vehicles. Experimental issues from real data are presented and discussed.

Abstract-This paper describes an original method to compute the relative motion of an uncalibrated stereo rig in urban environments from features lying on the road. The extraction of significant reliable features on the road remains the critical step of this method. We nevertheless detect them according to the stereo constraints and a priori knowledge on the scene. The motion between two frames of the stereo rig is considered as rigid: the homography computation is enforced by the redundancy of the feature locations in multiple views. The method has been tested on video sequences recorded from a test vehicle that was driven an urban environments. Promising results from these experiments will be presented.

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