Abstract
A novel stereo matching algorithm for a binocular mobile robot is presented, which is based on image segmentation and reliable point correspondences. Firstly, less and similar texture regions of stereo images are determined by the segmentation of the right and left image using the texture features verifying and segmentation; Then, the disparity of reliable point could be obtained by SIFT features point matching. Secondly, the preliminary disparity could be obtained by SAD area-based matching. Finally, the image is processed according to the distribution of SIFT features matching point, disparity continuous constraint and minimum distance classifier. Meanwhile, the higher precision disparity map could be obtained by removing the smaller region via the blob filter. It can be drawn from the results of experiment that the proposed algorithm is effective, and could obtain quicker, accurate obstacle detection.
| Original language | English |
|---|---|
| Pages (from-to) | 675-682 |
| Number of pages | 8 |
| Journal | Beijing Gongye Daxue Xuebao / Journal of Beijing University of Technology |
| Volume | 37 |
| Issue number | 5 |
| Publication status | Published - May 2011 |
Keywords
- Binocular mobile robot
- Minimum distance classifier
- Reliable point
- Stereo matching