Stereo vision for obstacle detection: a graph-based approach

Authors:
P. Foggia;Jean-Michel Jolion;A. Limongiello;M. Vento
Affiliations:
Dip. di Informatica e Sistemistica, Università di Napoli, Napoli, Italy;Lyon Research Center for Images and Information Systems, UMR, CNRS, INSA Lyon, Villeurbanne Cedex, France;Dip. di Ingegneria dell'Informazione ed Ingegneria Elettrica, Università di Salerno, Fisciano, SA, Italy;Dip. di Ingegneria dell'Informazione ed Ingegneria Elettrica, Università di Salerno, Fisciano, SA, Italy
Venue:
GbRPR'07 Proceedings of the 6th IAPR-TC-15 international conference on Graph-based representations in pattern recognition
Year:
2007

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Abstract

We propose a new approach to stereo matching for obstacle detection in the autonomous navigation framework. An accurate but slow reconstruction of the 3D scene is not needed; rather, it is more important to have a fast localization of the obstacles to avoid them. All the methods in the literature, based on a punctual stereo matching, are ineffective in realistic contexts because they are either computationally too expensive, or unable to deal with the presence of uniform patterns, or of perturbations between the left and right images. Our idea is to face the stereo matching problem as a matching between homologous regions. The stereo images are represented as graphs and a graph matching is computed to find homologous regions. Our method is strongly robust in a realistic environment, requires little parameter tuning, and is adequately fast, as experimentally demonstrated in a comparison with the best algorithms in the literature.