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http://dx.doi.org/10.5302/J.ICROS.2005.11.5.418

Generic Obstacle Detection on Roads by Dynamic Programming and Remapping of Stereo Images to a Virtual Top-View  

Lee Ki Yong (전남대학교 산업공학과)
Lee Joon Woong (전남대학교 산업공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.5, 2005 , pp. 418-422 More about this Journal
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.
Keywords
stereo vision; dynamic programming; polar histogram; peak joining;
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