Title :
Stereo Vision Robot Obstacle Detection Based on the SIFT
Author :
Shao, Nuan ; Li, Hui-guang ; Liu, Le ; Zhang, Zhan-Ling
Author_Institution :
Key Lab. of Ind. Comput. Control Eng. of Hebei Province, Yanshan Univ., Qinhuangdao, China
Abstract :
This paper presents a method of binocular vision obstacle detection based on SIFT feature matching algorithm. First, a model of depth measurement based on stereo vision is built, it does not require resume the three-dimensional coordinate of spatial point under the world coordinate system. According to the characteristics of the model, we proposed the binocular stereo vision calibration method based on parallel optical axis, Finally, the pixel coordinates of matching points are extracted with SIFT feature matching algorithm and completed the distance detection of the obstacle. The experimental results demonstrated the feasibility and effectiveness of the method.
Keywords :
collision avoidance; feature extraction; image matching; robot vision; stereo image processing; SIFT feature matching algorithm; binocular stereo vision calibration method; depth measurement model; parallel optical axis; stereo vision robot obstacle detection; Calibration; Cameras; Feature extraction; Pixel; Robots; Stereo vision; SIFT feature matching; binocular stereo vision; depth measurement; obstacle detection;
Conference_Titel :
Intelligent Systems (GCIS), 2010 Second WRI Global Congress on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-9247-3
DOI :
10.1109/GCIS.2010.168
