On-road obstacle detection and tracking system using robust global stereo vision method

Soon Kwon; Jong-Hun Lee; In-tae Na; Hong Jung

doi:10.1117/12.852755

15 April 2010 On-road obstacle detection and tracking system using robust global stereo vision method

Soon Kwon, Jong-Hun Lee, In-tae Na, Hong Jung

Proceedings Volume 7698, Signal and Data Processing of Small Targets 2010; 769818 (2010) https://doi.org/10.1117/12.852755
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

In this paper, we present a visual obstacle detection and tracking system based on a dense stereo vision method. We combine a global stereo matcher with a correlation based cost function for generating a reliable disparity-map. An NCC algorithm is robust to illumination variation, and a BP based global disparity computation algorithm is efficient for recovering the disparity information of a large textureless area in real driving scenes. Then an obstacle detector and a tracker module are implemented and tested under actual driving conditions. Using U-V disparity representation, a road profile is efficiently extracted, and obstacle ROI can be detected. In the process of obstacle detection, a few heuristic constraints are applied to exclude wrong candidates, and a further verification step is proceeded by a tracker. Implemented system offers accurate and reliable range images under various noisy imaging conditions, which results in robust detection and tracking performance.

Citation Download Citation

Soon Kwon, Jong-Hun Lee, In-tae Na, and Hong Jung "On-road obstacle detection and tracking system using robust global stereo vision method", Proc. SPIE 7698, Signal and Data Processing of Small Targets 2010, 769818 (15 April 2010); https://doi.org/10.1117/12.852755

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