DocumentCode :
1950676
Title :
A Stereo Matching Approach to Detect Obstacle in ALV System
Author :
Yongquan, Xia ; Jun, Zhi ; Min, Huang ; Weili, Li ; Rui, Ma
Author_Institution :
Dept. of Comput. & Commun. Eng., Zhengzhou Univ. of Light Ind., Zhengzhou
Volume :
1
fYear :
2008
fDate :
12-14 Dec. 2008
Firstpage :
1103
Lastpage :
1106
Abstract :
In ALV system based on stereo vision, the obstacle detection is one of the most important problems. In this paper, an algorithm is proposed based on moment invariant to detect obstacle in ALV system. Firstly, a simple method is applied to binarize the images by the defined binarization function; Secondly, the binarized images are segmented using outer contour tracing algorithm and regions of left and right images are detected respectively; Lastly, the regions are matched between left and right image, the successful matched regions are the likely obstacle. Stereo pairs captured from ALV system are used to test the proposed algorithm, the result indicate that the approach is valid and feasible.
Keywords :
image matching; image segmentation; mobile robots; object detection; stereo image processing; vehicles; ALV system; autonomous land vehicle systems; binarization function; binarized images; obstacle detection; outer contour tracing algorithm; stereo matching approach; stereo vision; Computer science; Computer vision; Image motion analysis; Image segmentation; Motion estimation; Optical sensors; Radar detection; Radar tracking; Roads; Software engineering; binarization function; disparity; moment invariant; obstacle detection; stereo matching;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Science and Software Engineering, 2008 International Conference on
Conference_Location :
Wuhan, Hubei
Print_ISBN :
978-0-7695-3336-0
Type :
conf
DOI :
10.1109/CSSE.2008.1071
Filename :
4721945
Link To Document :
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