Stereo Vision-Based Obstacle Detection for Partially Sighted People
Stereo Vision-Based Obstacle Detection for Partially Sighted People
复制标题
针对弱视人群的基于立体视觉的障碍物检测
DOI：
10.1007/3-540-63930-6_116
复制
发表时间：
1998
期刊：
影响因子：
--
通讯作者：
M. Brady
中科院分区：
文献类型：
--
作者：
Stephen Se;M. Brady
避障是任何旨在帮助部分视力（TAPS）人安全导航的技术援助的主要要求。在本文中，一个立体视觉为基础的算法（地平面障碍物检测）扩展到检测小障碍物的TAPS使用RANSAC动态重新校准和卡尔曼滤波。障碍物检测和虚警的概率进行了研究。此外，开发了一种技术，通过匹配它们的边缘与一些启发式的标准来找到对象。实验结果表明，我们的动态重新校准方法的障碍物边缘提取更好，可以成功地找到目标的边缘匹配技术。
Obstacle avoidance is a major requirement for any technological aid aimed at helping partially sighted (TAPS) people to navigate safely. In this paper, a stereo vision-based algorithm (Ground Plane Obstacle Detection) is extended to detect small obstacles for TAPS using RANSAC dynamic recalibration and Kalman Filtering. Obstacle detection and false alarm are investigated probabilistically. Furthermore, a technique is developed to find objects by matching their edges with some heuristic criteria. Experiments show that obstacle edges are extracted much better with our dynamic recalibration approach and that objects can be found successfully by the edge matching technique.