DocumentCode :
1996318
Title :
A real-time stereo-vision system for moving object and obstacle detection in AVG and AMR applications
Author :
Foggia, P. ; Limongiello, A. ; Vento, M.
Author_Institution :
Dip. di Informatica e Sistemistica, Univ. of Napoli, Italy
fYear :
2005
fDate :
4-6 July 2005
Firstpage :
58
Lastpage :
63
Abstract :
This paper presents a real-time system for moving object and obstacle detection (MOOD) based on stereo vision. A disparity map is calculated to have a 3D representation of the scene and to recognize obstacles. The best methods in literature have been employed and opportunely modified to obtain the best compromise between the high frame-rate and the high accuracy requirements. An efficient algorithm for motion vector analysis, based on optical flow, is used to segment moving objects and obstacles. The application domain is automatic vehicle guidance (AVG) and autonomous mobile robots (AMR), in which a stereo vision system is applied on board. Results are presented with reference to a synthetic database created ad hoc to evidence some interesting cases of object/obstacle trajectories.
Keywords :
collision avoidance; image motion analysis; image recognition; mobile robots; object detection; real-time systems; robot vision; stereo image processing; 3D representation; automatic vehicle guidance; autonomous mobile robots; disparity map; motion vector analysis; moving object detection; obstacle detection; optical flow; real-time stereo-vision system; stereo vision; stereo vision system; synthetic database; Algorithm design and analysis; Image motion analysis; Layout; Mobile robots; Mood; Motion analysis; Object detection; Real time systems; Remotely operated vehicles; Stereo vision; AMR; AVG; Disparity Map; Optical Flow; Synthetic database.;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Architecture for Machine Perception, 2005. CAMP 2005. Proceedings. Seventh International Workshop on
Print_ISBN :
0-7695-2255-6
Type :
conf
DOI :
10.1109/CAMP.2005.6
Filename :
1508165
Link To Document :
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