Real-Time Stereovision Approach of Object Detection for Driving Assistance

This paper will present an obstacle detection approach that relies on the three-dimensional information from stereo vision. Concerning real-time response of the system and high accuracy of the reconstructed points, instead of the traditional stereo matching, a new way that combines three-dimensional features with wavelet-based hierarchical technique is proposed to decrease the computational cost and maintain its credibility. The matched points are selected for grouping into objects, based on neighborhood criteria, depth distance and the point density. Our system is able to reliably detect the far distance moving objects and function in real time.