24 October 2005 The XH-map algorithm: A method to process stereo video to produce a real-time obstacle map
Author Affiliations +
Abstract
This paper presents a novel, simple and fast algorithm to produce a "floor plan" obstacle map in real time using video. The XH-map algorithm is a transformation of stereo vision data in disparity map space into a two dimensional obstacle map space using a method that can be likened to a histogram reduction of image information. The classic floor-ground background noise problem is addressed with a simple one-time semi-automatic calibration method incorporated into the algorithm. This implementation of this algorithm utilizes the Intel Performance Primitives library and OpenCV libraries for extremely fast and efficient execution, creating a scaled obstacle map from a 480x640x256 stereo pair in 1.4 milliseconds. This algorithm has many applications in robotics and computer vision including enabling an "Intelligent Robot" robot to "see" for path planning and obstacle avoidance.
© (2005) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Donald Rosselot, Donald Rosselot, Ernest L. Hall, Ernest L. Hall, } "The XH-map algorithm: A method to process stereo video to produce a real-time obstacle map", Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 60060K (24 October 2005); doi: 10.1117/12.631018; https://doi.org/10.1117/12.631018
PROCEEDINGS
11 PAGES


SHARE
Back to Top