An obstacle detection algorithm based on U-V disparity map analysis

An obstacle detection algorithm based on U-V disparity map analysis is presented in this paper. We firstly introduce the obstacle detection mechanism using U-V disparity map generated from stereo match disparity map, and then an obstacle detection algorithm based on analysis of U-V disparity map characteristic is described. The combination of straight line fitting and the standard Hough Transform are used in processing the initial disparity map, and the experimental results demonstrate that this algorithm is efficient and has the strong robustness to the change of illumination and obstacles.