Depth Discontinuities by Pixel-to-Pixel Stereo
International Journal of Computer Vision
Using Real-Time Stereo Vision for Mobile Robot Navigation
Autonomous Robots
A Taxonomy and Evaluation of Dense Two-Frame Stereo Correspondence Algorithms
International Journal of Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Road feature detection and estimation
Machine Vision and Applications
On-Road Vehicle Detection: A Review
IEEE Transactions on Pattern Analysis and Machine Intelligence
A sonar approach to obstacle detection for a vision-based autonomous wheelchair
Robotics and Autonomous Systems
Mobile Robot Navigation Using Sonar and Range Measurements from Uncalibrated Cameras
Journal of Intelligent and Robotic Systems
Vision Based Target Tracking and Collision Avoidance for Mobile Robots
Journal of Intelligent and Robotic Systems
Navigation System for the Blind: Auditory Display Modes and Guidance
Presence: Teleoperators and Virtual Environments
Stereovision-based object segmentation for automotive applications
EURASIP Journal on Applied Signal Processing
Relaying scene information to the blind via sound using cartoon depth maps
Image and Vision Computing
Advanced Adaptive Sonar for Mapping Applications
Journal of Intelligent and Robotic Systems
Stereo-based Free Space Computation in Complex Traffic Scenarios
SSIAI '08 Proceedings of the 2008 IEEE Southwest Symposium on Image Analysis and Interpretation
Real-time on-road vehicle and motorcycle detection using a single camera
ICIT '09 Proceedings of the 2009 IEEE International Conference on Industrial Technology
LIDAR and vision-based pedestrian detection system
Journal of Field Robotics
Stereovision-Based Algorithm for Obstacle Avoidance
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Obtaining Reliable Depth Maps for Robotic Applications from a Quad-Camera System
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Autonomous driving in semi-structured environments: mapping and planning
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
B-spline modeling of road surfaces with an application to free-space estimation
IEEE Transactions on Intelligent Transportation Systems
Adaptive fuzzy color segmentation with neural network for road detections
Engineering Applications of Artificial Intelligence
Fast obstacle detection for urban traffic situations
IEEE Transactions on Intelligent Transportation Systems
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
IEEE Transactions on Image Processing
Journal of Intelligent and Robotic Systems
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The detection of surrounding obstacle-free space is an essential task for many intelligent automotive and robotic applications. In this paper we present a method to detect obstacle-free pathways in real-time using depth maps from a pair of stereo images. Depth maps are obtained by processing the disparity between left and right images from a stereo-vision system. The proposed technique assumes that depth of pixels in obstacle-free pathways should increase slightly and linearly from the bottom of the image to the top. The proposed real-time detection checks whether the depth of groups of image columns matches a linear model. Only pixels fulfilling the matching requirements are identified as obstacle-free pathways. Experimental results with real outdoor stereo images show that the method performance is promising.