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Communication Dans Un Congrès Année : 2007

Stereo Vision for Obstacle Detection: a Graph-Based Approach

Résumé

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.
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Dates et versions

hal-01583373 , version 1 (07-09-2017)

Identifiants

  • HAL Id : hal-01583373 , version 1

Citer

Pascale Foggia, Jean-Michel Jolion, Alessandro Limongiello, Mario Vento. Stereo Vision for Obstacle Detection: a Graph-Based Approach. Proc. of Graph based Representation for Pattern Recognition'07, Alicante, June 2007, Springer, LNCS 4538, 37-48., Jun 2007, Alicante, Spain. ⟨hal-01583373⟩
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