Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual Information
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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This paper presents a stereo vision-based autonomous navigation system using a GPS and the VFH algorithm. In order to obtain a high-accuracy disparity map and meet the time constraints of the real time navigation system, this work proposes the use of a semi-global stereo method. By not suffering the same issues of the regularly used local stereo methods, the employed stereo technique enables the generation of a highly dense, efficient, and accurate disparity map. Obstacles are detected using a method that checks for relative slopes and heights differences. Experimental tests using an electric vehicle in an urban environment were performed to validate the proposed approach.