Stereo Vision for Obstacle Detection: A Region-Based Approach

P. Foggia, A. Limongiello, M. Vento

Abstract

We propose a new approach to stereo matching for obstacle detection in the autonomous navigation framework. An accurate but slow reconstruction of the 3D scene is not needed; rather, it is more important to have a fast localization of the obstacles to avoid them. All the methods in the literature, based on a pixel stereo matching, are ineffective in realistic contexts because they are either computationally too expensive, or unable to deal with the presence of uniform patterns, or of perturbations between the left and right images. Our idea is to face the stereo matching problem as a matching between homologous regions. Our method is strongly robust in a realistic environment, requires little parameter tuning, and is adequately fast, as experimentally demonstrated in a comparison with the best algorithms in the literature.

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Paper Citation


in Harvard Style

Foggia P., Limongiello A. and Vento M. (2007). Stereo Vision for Obstacle Detection: A Region-Based Approach . In Robot Vision - Volume 1: Robot Vision, (VISAPP 2007) ISBN 978-972-8865-76-4, pages 36-45. DOI: 10.5220/0002067900360045


in Bibtex Style

@conference{robot vision07,
author={P. Foggia and A. Limongiello and M. Vento},
title={Stereo Vision for Obstacle Detection: A Region-Based Approach},
booktitle={Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)},
year={2007},
pages={36-45},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002067900360045},
isbn={978-972-8865-76-4},
}


in EndNote Style

TY - CONF
JO - Robot Vision - Volume 1: Robot Vision, (VISAPP 2007)
TI - Stereo Vision for Obstacle Detection: A Region-Based Approach
SN - 978-972-8865-76-4
AU - Foggia P.
AU - Limongiello A.
AU - Vento M.
PY - 2007
SP - 36
EP - 45
DO - 10.5220/0002067900360045