Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Novel Disparity Transformation Algorithm for Road Segmentation   The disparity information provided by stereo cameras has enabled advanced
driver assistance systems to estimate road area more accurately and
effectively. In this paper, a novel disparity transformation algorithm is
proposed to extract road areas from dense disparity maps by making the
disparity value of the road pixels become similar. The transformation is
achieved using two parameters: roll angle and fitted disparity value with
respect to each row. To achieve a better processing efficiency, golden section
search and dynamic programming are utilised to estimate the roll angle and the
fitted disparity value, respectively. By performing a rotation around the
estimated roll angle, the disparity distribution of each row becomes very
compact. This further improves the accuracy of the road model estimation, as
demonstrated by the various experimental results in this paper. Finally, the
Otsu's thresholding method is applied to the transformed disparity map and the
roads can be accurately segmented at pixel level.

30
The categories of this paper are: q-alg
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The categories of this paper are: alg-geom
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The categories of this paper are: chem-ph
7
The categories of this paper are: hep-th
4
The categories of this paper are: cond-mat
18
The categories of this paper are: econ
35
The categories of this paper are: mtrl-th
10
The categories of this paper are: q-bio
29
The categories of this paper are: funct-an
20
The categories of this paper are: acc-phys
23
The categories of this paper are: solv-int
36
The categories of this paper are: cmp-lg
0
The categories of this paper are: hep-ph
15
The categories of this paper are: nucl-ex
5
The categories of this paper are: gr-qc
24
The categories of this paper are: dg-ga