An Obstacle Detection Method Based on Surface Direction
基于表面方向的障碍物检测方法

Elicited by the original steoro matching method, considering the specialities of the obstacle detection task, and in order to cope with its difficulties, a new fast and robust obstacle detection method is presented in this paper. Being different from origin methods based on the depth of obstacl object, the presented method uses a newcharacterization-plan s direction. This charaction identifies the vertical surface of obstacle object from thehorizonal surface of ground.