The Solution of Stereo Correspondence Problem Using Block Matching Algorithm in Stereo Vision Mobile Robot
The Solution of Stereo Correspondence Problem Using Block Matching Algorithm in Stereo Vision Mobile Robot
复制标题
立体视觉移动机器人中块匹配算法解决立体对应问题
DOI：
10.1109/iccrd.2010.167
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
S. I. Salim
中科院分区：
文献类型：
--
作者：
R. A. Hamzah;A. Hamid;S. I. Salim
针对立体视觉移动的机器人在进行立体图像比较时出现的立体匹配问题，提出了一种块匹配算法。该算法使用绝对差和（SAD）。左图像作为右图像的参考块，输出是与左坐标系的视差映射。立体视觉基线基于水平配置。简要介绍了块匹配技术及其输出性能。曲线拟合工具将确定视差映射中检测到的每个障碍物的范围。编程活动使用Matlab软件从捕获图像开始，直到移动的机器人的导航。
This paper presents the solution of stereo correspondence problem occur in comparing stereo images on stereo vision mobile robot using block matching algorithm. The algorithm is using Sum of Absolute Differences (SAD). Left image works as a reference block to the right image and the output is disparity mapping with the left coordinate system. The stereo vision baseline is based on horizontal configuration. The block matching technique is briefly described with the performance of its output. The curve fitting tool will determine the range of each obstacle detected in disparity mapping. The programming activities are using Matlab software starting from capturing images until navigation of mobile robot.