DISPARITY MAPS FOR FREE PATH DETECTION

Nuria Ortigosa, Samuel Morillas, Guillermo Peris-Fajarnés, Larisa Dunai

Abstract

In this paper we introduce amethod to detect free paths in real-time using disparitymaps froma pair of rectified stereo images. Disparity maps are obtained by processing the disparities between left and right rectified images from a stereo-vision system. The proposed algorithm is based on the fact that disparity values decrease linearly from the bottom of the image to the top. By applying least-squares fitting over groups of image columns to a linear model, free paths are detected. Only those pixels that fulfil the matching requirements are identified as free path. Results from outdoor scenarios are also presented.

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Paper Citation


in Harvard Style

Ortigosa N., Morillas S., Peris-Fajarnés G. and Dunai L. (2010). DISPARITY MAPS FOR FREE PATH DETECTION . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010) ISBN 978-989-674-028-3, pages 310-315. DOI: 10.5220/0002821603100315


in Bibtex Style

@conference{visapp10,
author={Nuria Ortigosa and Samuel Morillas and Guillermo Peris-Fajarnés and Larisa Dunai},
title={DISPARITY MAPS FOR FREE PATH DETECTION},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)},
year={2010},
pages={310-315},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002821603100315},
isbn={978-989-674-028-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)
TI - DISPARITY MAPS FOR FREE PATH DETECTION
SN - 978-989-674-028-3
AU - Ortigosa N.
AU - Morillas S.
AU - Peris-Fajarnés G.
AU - Dunai L.
PY - 2010
SP - 310
EP - 315
DO - 10.5220/0002821603100315