Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Generic Obstacle Detection on Roads by Dynamic Programming and Remapping of Stereo Images to a Virtual Top-View

스테레오영상의 가상의 탑뷰변환과 동적계획법에 의한 도로상의 장애물 검출

  • 이기용 (전남대학교 산업공학과) ;
  • 이준웅 (전남대학교 산업공학과)
  • Published : 2005.05.01
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Abstract

In this paper, a novel algorithm capable of detecting generic obstacles on a flat surface is proposed. The algorithm fundamentally exploits a distortion phenomena taken place in remapping process of original stereo images to a virtual top-view. Based on the distortion phenomena, we construct stereo polar histograms of edge maps, detect peaks on them, and search for matched peaks on both histograms using a Dynamic Programming (DP). Eventually, the searched corresponding peaks lead to estimate obstacles' positions. The advantages of the proposed algorithm are that it is not largely affected by an intensity difference between a pair of stereo images and does not depend on the typical stereo matching methodologies. Furthermore, the algorithm identifies the obstacles' positions quite robustly.

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References

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