Obstacle detection by means of stereo feature matching

Author

Mittal, A. ; Bensrhair, A. ; Hancock, E.R.

Author_Institution

Dept. of CSE, PEC Univ. of Technol., Chandigarh, India

fYear

2014

fDate

27-30 Oct. 2014

Firstpage

1618

Lastpage

1622

Abstract

Automated obstacle detection is required in a number of applications. It is a challenging task because there is no prior knowledge about the appearance of ground, or the locations and appearance of obstacles in the scene. In this paper, an obstacle detection system based on matching the color edge features in stereo images is presented. The paper also presents an enhanced adaptive local-cross based stereo matching method used in the system. The system has been extensively evaluated. The result of evaluation allows the usage of system for automatic detection of moderately sized obstacles within a distance range of 2-15 meters with sufficient accuracy.

Keywords

image colour analysis; image matching; object detection; stereo image processing; automated obstacle detection; color edge features; enhanced adaptive local-cross based stereo matching method; Cameras; Colored noise; Feature extraction; Image color analysis; Image edge detection; Roads; Stereo vision; Edge feature extraction; Homography-based GPOD; Navigation technique; Obstacle detection; Stereo matching;

fLanguage

English

Publisher

ieee

Conference_Titel

Image Processing (ICIP), 2014 IEEE International Conference on

Conference_Location

Paris

Type

conf

DOI

10.1109/ICIP.2014.7025324

Filename

7025324