Title :
A trinocular stereo system for highway obstacle detection
Author :
Williamson, Todd ; Thorpe, Charles
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Presents a trinocular stereo algorithm that we have developed as part of an obstacle detection system that detects small obstacles at long range on the highway. We describe the stages of the stereo algorithm itself and the reasons behind the design decisions that were made. This is followed by a description of the obstacle detection system that we have built. Finally, we show results from our system for a variety of different obstacles
Keywords :
filtering theory; image matching; object detection; stereo image processing; design decisions; highway obstacle detection; small obstacles; stereo algorithm; trinocular stereo system; Cameras; Filters; Laplace equations; Lenses; Object detection; Road transportation; Road vehicles; Robots; Vehicle detection; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770443
