This paper presents a new fast binocular stereo approach for the detection and tracking of objects, in particular for stop&go traffic. The proposed scheme is based on a local feature extraction and detects dominant objects by means of a Hough transform like disparity grouping. It is able to handle not only vehicles, but also other objects such as pedestrians. In addition, it allows to determine the camera orientation relative to the road and to distinguish between road surface and obstacles.
Franke et al. (Tue,) studied this question.