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Obstacle localization with a binarized v-disparity map using local maximum frequency values in stereo vision

Title
Obstacle localization with a binarized v-disparity map using local maximum frequency values in stereo vision
Authors
Lee, Chung-HeeLim, Young-ChulKwon, SoonLee, Jong-Hun
DGIST Authors
Lee, Chung-Hee; Lim, Young-Chul; Kwon, SoonLee, Jong-Hun
Issue Date
2008
Citation
2008 2nd International Conference on Signals, Circuits and Systems, SCS 2008
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
In this paper, we propose an obstacle localization method using column detection with a binarized v-disparity map. For localizing obstacles robustly in environments where there exist many obstacles, such as roadside trees, pedestrians, or where median strips exist, we also propose a new method which extracts a road feature. We create a binarized v-disparity map using local maximum frequency values in each row for emphasizing a diagonal straight line, namely a road feature. And to further eliminate noise, we use a comparing method which compares all road feature values with median values. Finally, we use a linear interpolation for rows which have no value. We can extract a road feature through this method robustly. And we adopt this new standard to localize obstacles. An experimental result which uses a real road image proved that our proposed method has the advantage of extracting a road feature and localizing obstacles in environments where many obstacles exist. © 2008 IEEE.
URI
http://hdl.handle.net/20.500.11750/3987
DOI
10.1109/ICSCS.2008.4746894
Publisher
Institute of Electrical and Electronics Engineers Inc.
Related Researcher
Files:
There are no files associated with this item.
Collection:
ETC2. Conference Papers


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