Appearance Based Obstacle Detection
Parking lot with lots of irregularities.
Sidewalk with little sunlight.
Same sidwalk with bright sunlight and strong shadows.
Sidwalk with yellow border.
Good segmentation of museum floor.
Similar corridor with shadows cast by dinosaur bones.
Corridor with highlights and other reflections.
Another corridor with bimodal intensity mode.
Nasty color effects do not show up as obstacles.
Detection of thin black pole.
Leg with same color as floor does not show up as an obstacle.
Person with black pants.
Person with pants that have similar color as floor.
Same person, hands show up as obstacles as well.