A Trinocular Stereo System for Highway Obstacle Detection
نویسندگان
چکیده
This paper presents a trinocular stereo algorithm that we have developed as part of an obstacle detection system that detects smaN obstacles at long range on the highway. We describe the stages of the stereo algorithm itseg 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. FinaIly, we show results from our system for a variety of different obstacles.
منابع مشابه
Detection of Small Obstacles at Long Range Using Multibaseline Stereo
This paper presents a multibaseline stereo technique specially suited to detecting obstacles. First, we describe traditional multibaseline stereo and explain why it is not suitable for obstacle detection. This analysis leads directly to a suitable method. Then we describe the obstacle detection system that we have built. Finally, we show results from our system for a variety of different obstac...
متن کاملObstacle detection using trinocular stereo cameras without a disparity map
We propose an obstacle detection method based on trinocular stereo vision which consist of vertical and horizontal stereo cameras. Vertical edges and horizontal edges are extracted from horizontal stereo images and vertical stereo images. Then the edges are used to generate U-V-disparity maps. A rectangular obstacle has a characteristic that it is represented as a vertical line in V-disparity m...
متن کاملHigh-Speed Obstacle Detection for Automated Highway Applications Thesis Proposal
Highway obstacle detection is a challenging problem. Highways present an unknown and dynamic environment with real-time constraints. In addition, the high speeds of travel force a system to detect objects at long ranges. Although there are a number of methods that can successfully detect moving vehicles, the more difficult problem of finding small, static road debris such as tires or crates rem...
متن کاملA High-Performance Vision System for Obstacle Detection
I have developed a method for obstacle detection in a highway environment using the CMU Video Rate Multi-Baseline Stereo Machine. One key feature of this method is the computation and output of a confidence measure at each pixel, so that regions of the scene with low reliability can be recognized and filtered out. This method has proven to be capable of detecting 30cm high obstacles at distance...
متن کاملStereo Vision-based Forward Obstacle Detection
−This paper proposes a stereo vision-based forward obstacle detection and distance measurement method. In general, stereo vision-based obstacle detection methods in automotive applications can be classified into two categories: IPM (Inverse Perspective Mapping)-based and disparity histogram-based. The existing disparity histogram-based method was developed for stop-and-go applications. The prop...
متن کامل