The condition assessment of road surfaces is essential to ensure their
serviceability while still providing maximum road traffic safety. This paper
presents a robust stereo vision system embedded in an unmanned aerial vehicle
(UAV). The perspective view of the target image is first transformed into the
reference view, and this not only improves the disparity accuracy, but also
reduces the algorithm's computational complexity. The cost volumes generated
from stereo matching are then filtered using a bilateral filter. The latter has
been proved to be a feasible solution for the functional minimisation problem
in a fully connected Markov random field model. Finally, the disparity maps are
transformed by minimising an energy function with respect to the roll angle and
disparity projection model. This makes the damaged road areas more
distinguishable from the road surface. The proposed system is implemented on an
NVIDIA Jetson TX2 GPU with CUDA for real-time purposes. It is demonstrated
through experiments that the damaged road areas can be easily distinguished
from the transformed disparity maps.

本文介绍了一种嵌入在无人机上的稳健立体视觉系统，可以实时准确地评估道路表面的状况，从而支持道路交通的安全。通过改进视角变换和使用双边滤波器来过滤生成的代价体积，以及最小化能量函数，通过单独检测受损道路区域，降低了算法的计算复杂度。