Stereovision-based 2D spatial map construction for a safe vehicle driving

Jung-Hwan Ko; Jung-Suk Lee

doi:10.1117/12.682711

24 August 2006 Stereovision-based 2D spatial map construction for a safe vehicle driving

Jung-Hwan Ko, Jung-Suk Lee

Proceedings Volume 6312, Applications of Digital Image Processing XXIX; 63121T (2006) https://doi.org/10.1117/12.682711
Event: SPIE Optics + Photonics, 2006, San Diego, California, United States

Abstract

In this paper, the method for an effective and intelligent route decision of an unmanned ground vehicle (UGV) using a 2D spatial map of the stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle detected and the 2D spatial map obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The unmanned ground vehicle moves automatically by effective and intelligent route decision using the obtained 2D spatial map. From some experiments on robot driving with 24 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 1.57% on average, respectably.

Citation Download Citation

Jung-Hwan Ko and Jung-Suk Lee "Stereovision-based 2D spatial map construction for a safe vehicle driving", Proc. SPIE 6312, Applications of Digital Image Processing XXIX, 63121T (24 August 2006); https://doi.org/10.1117/12.682711

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