Paper Info
Title
Real time autonomous navigation and obstacle avoidance using a semi-global stereo method
Abstract
This paper presents a stereo vision-based autonomous navigation system using a GPS and the VFH algorithm. In order to obtain a high-accuracy disparity map and meet the time constraints of the real time navigation system, this work proposes the use of a semi-global stereo method. By not suffering the same issues of the regularly used local stereo methods, the employed stereo technique enables the generation of a highly dense, efficient, and accurate disparity map. Obstacles are detected using a method that checks for relative slopes and heights differences. Experimental tests using an electric vehicle in an urban environment were performed to validate the proposed approach.
Year
DOI
Venue
2013
10.1145/2480362.2480413
SAC
Keywords
Field
DocType
local stereo method,accurate disparity map,high-accuracy disparity map,semi-global stereo method,obstacle avoidance,time constraint,stereo technique,vfh algorithm,stereo vision-based autonomous navigation,electric vehicle,real time navigation system,stereo vision
Obstacle avoidance,Stereo cameras,Computer vision,Autonomous Navigation System,Electric vehicle,Stereopsis,Computer science,Urban environment,Artificial intelligence,Assisted GPS,Computer stereo vision
Conference
Citations 
PageRank 
References 
3
0.43
3
Authors
2
Name
Order
Citations
PageRank
Caio César Teodoro Mendes1221.71
Denis Fernando Wolf2479.86