A real-time stereo-vision system for moving object and obstacle detection in AVG and AMR applications
A real-time stereo-vision system for moving object and obstacle detection in AVG and AMR applications
复制标题
用于 AVG 和 AMR 应用中移动物体和障碍物检测的实时立体视觉系统
DOI：
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发表时间：
2005
期刊：
影响因子：
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通讯作者：
M. Vento
中科院分区：
文献类型：
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作者：
P. Foggia;A. Limongiello;M. Vento
提出了一种基于立体视觉的实时运动目标和障碍物检测系统。计算视差图以具有场景的3D表示并识别障碍物。在文献中的最佳方法已被采用和适时修改，以获得高帧速率和高精度要求之间的最佳折衷。提出了一种基于光流场的运动矢量分析算法，用于分割运动目标和障碍物。应用领域是自动车辆导航（AVG）和自主移动的机器人（AMR），其中立体视觉系统被应用在船上。结果是参考一个合成的数据库创建临时证据一些有趣的情况下的对象/障碍物轨迹。
This paper presents a real-time system for moving object and obstacle detection (MOOD) based on stereo vision. A disparity map is calculated to have a 3D representation of the scene and to recognize obstacles. The best methods in literature have been employed and opportunely modified to obtain the best compromise between the high frame-rate and the high accuracy requirements. An efficient algorithm for motion vector analysis, based on optical flow, is used to segment moving objects and obstacles. The application domain is automatic vehicle guidance (AVG) and autonomous mobile robots (AMR), in which a stereo vision system is applied on board. Results are presented with reference to a synthetic database created ad hoc to evidence some interesting cases of object/obstacle trajectories.