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http://dx.doi.org/10.5762/KAIS.2019.20.10.326

A Study of 3D World Reconstruction and Dynamic Object Detection using Stereo Images  

Seo, Bo-Gil (Defence agency for Technology and Quality(DTaQ))
Yoon, Young Ho (Defence agency for Technology and Quality(DTaQ))
Kim, Kyu Young (Defence agency for Technology and Quality(DTaQ))
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.20, no.10, 2019 , pp. 326-331 More about this Journal
Abstract
In the real world, there are both dynamic objects and static objects, but an autonomous vehicle or mobile robot cannot distinguish between them, even though a human can distinguish them easily. It is important to distinguish static objects from dynamic objects clearly to perform autonomous driving successfully and stably for an autonomous vehicle or mobile robot. To do this, various sensor systems can be used, like cameras and LiDAR. Stereo camera images are used often for autonomous driving. The stereo camera images can be used in object recognition areas like object segmentation, classification, and tracking, as well as navigation areas like 3D world reconstruction. This study suggests a method to distinguish static/dynamic objects using stereo vision for an online autonomous vehicle and mobile robot. The method was applied to a 3D world map reconstructed from stereo vision for navigation and had 99.81% accuracy.
Keywords
Autonomous Vehicle; Mobile Robot; Stereo Image; 3D Reconstruction; Dynamic Object;
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