DISPARITY MAPS FOR FREE PATH DETECTION

被引：0
作者：
Ortigosa, Nuria [1 ]
Morillas, Samuel [2 ]
Peris-Fajarnes, Guillermo [1 ]
Dunai, Larisa [1 ]
机构：
[1] Univ Politecn Valencia, Ctr Invest Tecnol Graf, Camino Vera S-N, E-46022 Valencia, Spain
[2] Univ Politecn Valencia, Inst Matemat Pura & Aplicada, E-46022 Valencia, Spain
来源：
VISAPP 2010: PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON COMPUTER VISION THEORY AND APPLICATIONS, VOL 1 | 2010年
关键词：
Computer vision; Stereo vision; Disparity maps; Assisted navigation; STEREO-VISION SYSTEM; NAVIGATION; BLIND;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper we introduce a method to detect free paths in real-time using disparity maps from a pair of rectified stereo images. Disparity maps are obtained by processing the disparities between left and right rectified images from a stereo-vision system. The proposed algorithm is based on the fact that disparity values decrease linearly from the bottom of the image to the top. By applying least-squares fitting over groups of image columns to a linear model, free paths are detected. Only those pixels that fulfil the matching requirements are identified as free path. Results from outdoor scenarios are also presented.
引用
收藏
页码：310 / 315
页数：6
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