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立体视觉障碍物检测：一个基于图形的方法Stereo Vision for Obstacle Detection: a Graph-Based Approach |
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| 课程网址: | http://videolectures.net/gbr07_limongiello_svfob/ |
| 主讲教师: | Alessandro Limongiello |
| 开课单位: | 萨莱诺大学 |
| 开课时间: | 2007-07-07 |
| 课程语种: | 英语 |
| 中文简介: |  |
| 课程简介: | We propose a new approach to stereo matching for obstacle detection in the autonomous navigation framework. An accurate but slow reconstruction of the 3D scene is not needed; rather, it is more important to have a fast localization of the obstacles to avoid them. All the methods in the literature, based on a punctual stereo matching, are ineffective in realistic contexts because they are either computationally too expensive, or unable to deal with the presence of uniform patterns, or of perturbations between the left and right images. Our idea is to face the stereo matching problem as a matching between homologous regions. The stereo images are represented as graphs and a graph matching is computed to find homologous regions. Our method is strongly robust in a realistic environment, requires little parameter tuning, and is adequately fast, as experimentally demonstrated in a comparison with the best algorithms in the literature. |
| 关 键 词: | 立体视觉; 障碍物检测; 图形 |
| 课程来源: | 视频讲座网 |
| 最后编审: | 2020-06-27：zyk |
| 阅读次数: | 51 |