DocumentCode
2945347
Title
Detection and Localization of Curbs and Stairways Using Stereo Vision
Author
Lu, Xiaoye ; Manduchi, Roberto
Author_Institution
Department of Computer Engineering, University of California, Santa Cruz; xylu@soe.ucsc.edu
fYear
2005
fDate
18-22 April 2005
Firstpage
4648
Lastpage
4654
Abstract
We present algorithms to detect and precisely localize curbs and stairways for autonomous navigation. These algorithms combine brightness information (in the form of edgels) with 3-D data from a commercial stereo system. The overall system (including stereo computation) runs at about 4 Hz on a 1 GHz laptop. We show experimental results and discuss advantages and shortcomings of our approach.
Keywords
Brightness; Cameras; Computer vision; Indoor environments; Laser radar; Navigation; Portable computers; Robot vision systems; Stereo vision; Target recognition;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570837
Filename
1570837
Link To Document