Reliable Detection of Obstacles on Staircases
نویسندگان
چکیده
A stereo vision system for detecting 3D-objects is presented. The method uses a pair of externally uncalibrated cameras and is able t o detect objects located on a staircase. Detection is based on differencing stereo pair images, where a warping transform is used to overlay the left onto the right image, and vice versa. The 3D camera positions are obtained through model t~ased pose estimation and disparity is used to obtain the warping transform. The demonstrated application is staircase surveillance
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