A Global Optimization Algorithm for Real-Time On-Board Stereo Obstacle Detection Systems
- 1 June 2007
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 19310587,p. 7-12
- https://doi.org/10.1109/ivs.2007.4290083
Abstract
A fast and robust stereo algorithm for on-board obstacle detection systems is proposed. The proposed method finds the optimum road-obstacle boundary which provides the most consistent interpretation of the input stereo image pair. Global optimization combined with a robust matching measure enables stable detection of obstacles under various circumstances, such as heavy rain and severe lighting conditions. The processing time for VGA size image pair is about 15 msec on a 3.6 GHz pentium IV processor, which is fast enough for realtime applications.Keywords
This publication has 8 references indexed in Scilit:
- On-road vehicle detection: a reviewPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Dense stereo matching in restricted disparity spacePublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- A comparative study of fast dense stereo vision algorithmsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Rectification of images for binocular and trinocular stereovisionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Depth discontinuities by pixel-to-pixel stereoPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence AlgorithmsInternational Journal of Computer Vision, 2002
- Large Occlusion StereoInternational Journal of Computer Vision, 1999
- GOLD: a parallel real-time stereo vision system for generic obstacle and lane detectionIEEE Transactions on Image Processing, 1998