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基于彩色立体视觉的障碍物快速检测方法
引用本文:李庆忠,陈显华,顾伟康.基于彩色立体视觉的障碍物快速检测方法[J].计算机科学,2003,30(9):72-75.
作者姓名:李庆忠  陈显华  顾伟康
作者单位:1. 中国海洋大学机电工程系,青岛,266071
2. 浙江大学信息与电子工程学系,杭州,310027
基金项目:本研究受国家自然科学基金(项目编号:60105003)资助.
摘    要:Real-time obstacle detection method is a key technique for machine vision based mobile robot and au-tonomous land vehicle navigation in unstructured environments. In this paper o considering the real-time requirement for stereo matching algorithm, an adaptive color segmentation method for possible obstacle region detection is first developed based on the color feature, and a simple region based stereo matching algorithm of binocular vision for realobstacle recognition is also introduced. Obstacle detection is implemented by combining the road color adaptive seg-mentation method and region based stereovision method. Lots of experiment results show that the proposed approachcan detect obstacle quickly and effectively, and this algorithm is particularly suited for road environments in which the road is relatively flat and of roughly the same color.

关 键 词:移动机器人  智能机器人  彩色立体视觉  障碍物快速检测方法

Fast Method for Obstacle Detection Based on Color Stereo Vision
LI Qing-Zhong CHEN Xian-Hua GU Wei-Kang.Fast Method for Obstacle Detection Based on Color Stereo Vision[J].Computer Science,2003,30(9):72-75.
Authors:LI Qing-Zhong CHEN Xian-Hua GU Wei-Kang
Abstract:Real-time obstacle detection method is a key technique for machine vision based mobile robot and autonomous land vehicle navigation in unstructured environments. In this paper, considering the real-time requirement for stereo matching algorithm, an adaptive color segmentation method for possible obstacle region detection is first developed based on the color feature, and a simple region based stereo matching algorithm of binocular vision for real obstacle recognition is also introduced. Obstacle detection is implemented by combining the road color adaptive segmentation method and region based stereovision method. Lots of experiment results show that the proposed approach can detect obstacle quickly and effectively, and this algorithm is particularly suited for road environments in which the road is relatively flat and of roughly the same color.
Keywords:Stereo vision  Obstacle detection  Mobile robot  Image segmentation  
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