INTELLIGENT VISION FOR MOBILE AGENTS - Contour Maps in Real Time

Tariq Khan, John Morris, Khurram Jawed

Abstract

Real time interpretation of scenes is a critical capability for fast-moving intelligent vehicles. Generation of contour maps from stereo disparity maps is one technique which allows rapid identification of objects. Here, we describe an algorithm for generating contour maps from disparity maps produced using an implementation of the Symmetric Dynamic Programming Stereo algorithm in an FPGA. The algorithm has three steps: (a) a median filter is applied to the disparity map to remove the streaks characteristic of dynamic programming algorithms, (b) irrelevant pixels in the centre of regions are marked and (c) selected contours outlined. Results for high resolution images (~ 1Mpixel) show that a number of critical contours can be generated in less than 30ms permitting object outlining at video frame rates. The algorithm is easily parallelized and we show that multiple core processors can be used to increase the number of contours that can be generated.

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Paper Citation


in Harvard Style

Khan T., Morris J. and Jawed K. (2010). INTELLIGENT VISION FOR MOBILE AGENTS - Contour Maps in Real Time . In Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-674-021-4, pages 391-397. DOI: 10.5220/0002738503910397


in Bibtex Style

@conference{icaart10,
author={Tariq Khan and John Morris and Khurram Jawed},
title={INTELLIGENT VISION FOR MOBILE AGENTS - Contour Maps in Real Time},
booktitle={Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},
year={2010},
pages={391-397},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002738503910397},
isbn={978-989-674-021-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 2nd International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - INTELLIGENT VISION FOR MOBILE AGENTS - Contour Maps in Real Time
SN - 978-989-674-021-4
AU - Khan T.
AU - Morris J.
AU - Jawed K.
PY - 2010
SP - 391
EP - 397
DO - 10.5220/0002738503910397