In this paper we present an artificial vision algorithm for real-time obstacle detection in unstructured environments. The images have been taken using a stereoscopical vision system. The system uses a new approach, of low computational load, to calculate a V-disparity image between left and right corresponding images, in order to estimate the cameras pitch oscillation caused by the vehicle movement. Then, the obstacles are localized by stereo matching and mapped in real world coordinates. Experimental results on sequences taken from a moving vehicle (which partecipated to the DARPA Grand Challenge 2004) in different unstructured scenarios are then presented, to demonstrate the validity of the approach.


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    Title :

    Obstacle Detection with Stereo Vision for Off-Road Vehicle Navigation


    Contributors:
    Broggi, A. (author) / Caraffi, C. (author) / Fedriga, R.I. (author) / Grisleri, P. (author)


    Publication date :

    2005-01-01


    Size :

    755104 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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