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스테레오 비전 기반의 이동객체용 실시간 환경 인식 시스템

Title
스테레오 비전 기반의 이동객체용 실시간 환경 인식 시스템
Translated Title
Investigation on the real-time environment recognition system based on stereo vision for moving object
Authors
이충희임영철권순이종훈
DGIST Authors
이충희임영철권순이종훈
Issue Date
2008-09
Citation
대한임베디드공학회논문지, 3(3), 143-150
Type
Article
Keywords
stereo visionfast stereo matchingobstacle detectionprecise disparity estimationobstacle trackingstereo visionfast stereo matchingobstacle detectionprecise disparity estimationobstacle tracking
ISSN
1975-5066
Abstract
In this paper, we investigate a real-time environment recognition system based on stereo vision for moving object. This system consists of stereo matching, obstacle detection and distance estimation. In stereo matching part, depth maps can be obtained real road images captured adjustable baseline stereo vision system using belief propagation(BP) algorithm. In detection part, various obstacles are detected using only depth map in case of both v-disparity and column detection method under the real road environment. Finally in estimation part, asymmetric parabola fitting with NCC method improves estimation of obstacle detection. This stereo vision system can be applied to many applications such as unmanned vehicle and robot.
URI
http://hdl.handle.net/20.500.11750/5739
Publisher
대한임베디드공학회
Related Researcher
Files:
There are no files associated with this item.
Collection:
Intelligent Devices and Systems Research Group1. Journal Articles
Convergence Research Center for Future Automotive Technology1. Journal Articles


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