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Stereo vision systems in a Robotic navigation environment determine the depth in the form of a depth map image from two or more images which are taken at the same time, but from slightly different viewpoints. Ground suppression from depth map is essential for object reconstruction in 3D environment as the ground surface is considered as traveling medium than as an object. Ground separated depth map...
A quick estimation of depth is required by artificial vision systems for their self survival and navigation through the environment. Following the selection strategy of biological vision, known as visual attention, can help in accelerating extraction of depth for important and relevant portions of given scenes. Recent studies on depth perception in biological vision indicate that disparity is computed...
Navigating through unknown outdoor environments requires a robot to be able to see and model the far field terrain. In recent years this problem of seeing beyond reliable stereo readings into the far field has gained attention. Many proposed solutions involve using near field obstacle and ground plane regions labeled using stereo, to learn models which classify far field image regions. In this work...
Accurate road lane information is crucial for advanced vehicle navigation and safety applications. With the increasing of very high resolution (VHR) imagery of astonishing quality provided by digital airborne sources, it will greatly facilitate the data acquisition and also significantly reduce the cost of data collection and updates if the road details can be automatically extracted from the aerial...
Obstacle detection is a crucial problem of autonomous vehicle navigation. The paper presents color image stereo correspondence algorithm for obstacle detection. Firstly, the color images are segmented in HSV color space. And the regions of interest are extracted from the images; Then, the rectangular boundary of the interest regions are calculated; Obstacle position finally are obtained using stereo...
We have developed a head gesture controlled electric wheelchair system to aid persons with severe disabilities. Realtime range information obtained from a stereo camera is used to locate and segment the face images of the user from the sensed video. We use an Isomap based nonlinear manifold learning map of facial textures for head pose estimation. Our system is a non-contact vision system, making...
To detect menology environments, we present an environmental perception technology based on binocular stereo vision system. The binocular vision system is calibrated by Zhangzhengyou calibration method, and the original images are rectificated by epipolar rectification. Based on the revised binocular vision system, rectificated images are preprocessed by adopting histogram equalization, maximal between-cluster...
This paper presents an original approach of road segmentation supervised by stereovision. It deals with free space estimation by stereovision and road detection by color segmentation. The v-disparity algorithm is extended to provide a reliable and precise road profile on all types of roads. The free space is estimated by classifying the pixels of the disparity map. This classification is performed...
In localization technology for a mobile robot, visual locating is widely concerned because of its high precision and large amount of information, et al. Firstly, the paper introduces some popular locating methods and shows the advantages and disadvantages. Secondly, it discusses some technology related to distance measurement in visual locating, such as image segment, feature matching, camera calibration,...
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