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A Technique for Building Occupancy Maps Using Stereo Depth Information and Its Application  

Kim, Nak-Hyun (Dept. of Digital Information Eng., Hankuk University of Foreign Studies)
Oh, Se-Jun (Dept. of Digital Information Eng., Hankuk University of Foreign Studies)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SP / v.45, no.3, 2008 , pp. 1-10 More about this Journal
Abstract
An occupancy map is a representation methodology describing the region occupied by objects in 3D space, which can be utilized for autonomous navigation and object recognition. In this paper, we describe a technique for building an occupancy map using depth data extracted from stereo images. In addition, some techniques are proposed for utilizing the occupancy map for the segmentation of object regions. After the geometric information on the ground plane is extracted from a disparity image, the occupancy map is constructed by projecting each matched point to the ground plane-based 3D space. We explain techniques for extracting moving object regions using the occupancy map and present experimental results using real stereo images.
Keywords
Stereo vision; disparity image; occupancy map; segmentation;
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