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A study on the real time obstacle recognition by scanned line image
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 Title & Authors
A study on the real time obstacle recognition by scanned line image
Cheung, Sheung-Youb; Oh, Jun-Ho;
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 Abstract
This study is devoted to the detection of the 3-dimensional point obstacles on the plane by using accumulated scan line images. The proposed accumulating only one scan line allow to process image at real time. And the change of motion of the feature in image is small because of the short time between image frames, so it does not take much time to track features. To obtain recursive optimal obstacles position and robot motion along to the motion of camera, Kalman filter algorithm is used. After using Kalman filter in case of the fixed environment, 3-dimensional obstacles point map is obtained. The position and motion of moving obstacles can also be obtained by pre-segmentation. Finally, to solve the stereo ambiguity problem from multiple matches, the camera motion is actively used to discard mis-matched features. To get relative distance of obstacles from camera, parallel stereo camera setup is used. In order to evaluate the proposed algorithm, experiments are carried out by a small test vehicle.
 Keywords
Computer Vision;Stereo Image;Scanned Line Image;Obstacle Detection;Real Time Image Processing;Multiple Matching;Kalman Filter;
 Language
Korean
 Cited by
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