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http://dx.doi.org/10.17661/jkiiect.2017.10.4.318

Object Detection and 3D Position Estimation based on Stereo Vision  

Son, Haengseon (Korea Electronics Technology Institute)
Lee, Seonyoung (Korea Electronics Technology Institute)
Min, Kyoungwon (Korea Electronics Technology Institute)
Seo, Seongjin (Hyundai MOBIS Technical R&D center)
Publication Information
The Journal of Korea Institute of Information, Electronics, and Communication Technology / v.10, no.4, 2017 , pp. 318-324 More about this Journal
Abstract
We introduced a stereo camera on the aircraft to detect flight objects and to estimate the 3D position of them. The Saliency map algorithm based on PCT was proposed to detect a small object between clouds, and then we processed a stereo matching algorithm to find out the disparity between the left and right camera. In order to extract accurate disparity, cost aggregation region was used as a variable region to adapt to detection object. In this paper, we use the detection result as the cost aggregation region. In order to extract more precise disparity, sub-pixel interpolation is used to extract float type-disparity at sub-pixel level. We also proposed a method to estimate the spatial position of an object by using camera parameters. It is expected that it can be applied to image - based object detection and collision avoidance system of autonomous aircraft in the future.
Keywords
Flying Object Detection; Stereo Vision; Saliency Map; PCT; Collision Avoidance;
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