“…can be considered as robots; the development of Advance Driving Assistance Systems (ADAS), such as collision mitigation, collision avoidance, pre-crash or Automatic Cruise Control, requires that reliable road obstacle detection systems are available. To perform obstacle detection, various approaches have been proposed, depending on the sensor involved: telemeters like radar (Skutek et al, 2003) or laser scanner Mendes et al, 2004), cooperative detection systems (Griffiths et al, 2001;Von Arnim et al, 2007), or vision systems. In this particular field, monocular vision generally exploits the detection of specific features like edges, symmetry (Bertozzi et al, 2000), color (Betke & Nguyen, 1998) (Yamaguchi et al, 2006) or even saliency maps (Michalke et al, 2007).…”