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
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;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570837
