A color based cost aggregation

Therefore, we estimate an obstacle candidate region (OCR) using the general fact that Cisplatin most obstacles on the road have many vertical edges, to avoid unnecessary computation.
Fig. 8. Removal of road texture (shadows, tiles, and lane markers). (a) Original color image. (b) Original OCR. (c) OCR with texture removal. (For interpretation of the references to color in midbrain figure legend, the reader is referred to the web version of this article.)Figure optionsDownload full-size imageDownload as PowerPoint slide
Fig. 9. Obstacle candidate region (OCR) estimation result.