Obstacle detection is one of the key problems in driver assistance and robot navigation

etc.A monocular generalized obstacle detection method based on ground projection displacement vectors of feature points is proposed.The motion parameters of camera are estimated by feature points under the ground plane assumption and the rotation of camera is compensated by these parameters.The relationship between displacement vectors of camera and ground projection displacement vectors of both ground points and obstacle points are deduced by IPM (Inverse Perspective Mapping) respectively.An interval statistical method is proposed and the displacement vectors of camera are robustly estimated by this method.The generalized obstacle is detected by analyzing the relationship between ground projection displacement vectors of feature point pairs in image sequence and displacement vectors of camera.The experimental results under various scenes illustrate that the method can detect obstacle in arbitrary type and shape.Comparing with traditional obstacle detection method based on motion compensation

this method is more robust and accurate.