Fast and Robust Stereo Vision Algorithm for Obstacle Detection

作     者：Yi-peng Zhou 

作者机构：Department of Automation Northwestern Polytechnic University Xian 710068 P. R. China 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2008年第5卷第3期

页      面：247-252页

核心收录：

学科分类：0601[历史学-考古学] 060305[历史学-专门史与整体史] 06[历史学] 060109[历史学-专门考古] 0603[历史学-世界史] 

主　　题：stereo vision vehicle dynamics visibility range image alignment 

摘      要：Binocular computer vision is based on bionics, after the calibration through the camera head by double-exposure image synchronization, access to the calculation of two-dimensional image pixels of the three-dimensional depth information. In this paper, a fast and robust stereo vision algorithm is described to perform in-vehicle obstacles detection and characterization. The stereo algorithm which provides a suitable representation of the geometric content of the road scene is described, and an in-vehicle embedded system is presented. We present the way in which the algorithm is used, and then report experiments on real situations which show that our solution is accurate, reliable and efficient. In particular, both processes are fast, generic, robust to noise and bad conditions, and work even with partial occlusion.