A method and apparatus for detecting obstacles in off-road applications. A stereo camera and specific image-processing techniques enable a vehicle's vision system to identify drivable terrain in front of the vehicle. The method uses non-drivable residuals (NDR), where the NDR is zero for all terrain...http://www.google.de/patents/US20050015201?utm_source=gb-gplus-sharePatent US20050015201 - Method and apparatus for detecting obstacles
