This paper presents a novel real-time obstacle detection system based on stereoscopic vision. The system was designed for an Unmanned Ground Vehicle (UGV) operating in an unstructured environment. The system is based on the Scale Invariant Feature Transform (SIFT) Algorithm. It permits to detect, track and reference obstacles with respect to a fixed inertial reference system. Experimental results are shown to demonstrate the validity of the approach.

Stereo Vision Obstacle Detection Based on Scale Invariant Feature Transform Algorithms

POLLINI, LORENZO;INNOCENTI, MARIO
2007

Abstract

This paper presents a novel real-time obstacle detection system based on stereoscopic vision. The system was designed for an Unmanned Ground Vehicle (UGV) operating in an unstructured environment. The system is based on the Scale Invariant Feature Transform (SIFT) Algorithm. It permits to detect, track and reference obstacles with respect to a fixed inertial reference system. Experimental results are shown to demonstrate the validity of the approach.
9781563479045
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11568/201421
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