Vision system for fast 3D obstacle detection via sterovision matching

Hichem A. Bouayed; Edwige E. Pissaloux; Samer M. Abdallah

doi:10.1117/12.444195

5 October 2001 Vision system for fast 3D obstacle detection via sterovision matching

Hichem A. Bouayed, Edwige E. Pissaloux, Samer M. Abdallah

Proceedings Volume 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision; (2001) https://doi.org/10.1117/12.444195
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

Image matching is one of the fundamental problems of computer vision. Various approaches exist. They differ essentially by extracted primitives, by the best match search strategy, and by final applications. Feature based dense matching methods use such geometric primitives as raw pixels, edges, interest points, etc. Some of the correlation based matching methods involve a distance calculation. A time consuming operation. Its enhancement adds pixel complex photometric characteristics such as gradient direction, local curvature and luminosity local disparity, what increases the matching time, but they are usually very noisy. The matching method noise dependency and data volume can be reduced when improving the interest point robustness. This paper proposes to add to interest point primitive a set (vector) of simple characteristics (geometric and photometric), which are invariant to geometric plan transforms. A matching method based upon these enriched pixels and accumulation array concept is presented as well. These elements are useful for 3D obstacle detection in the ongoing project intelligent glasses, our final application. The intelligent glasses is a vision system for humanoid robot and for blind/visually impaired persons under joint development by Rouen University and Robotics Laboratory in Paris.

Citation Download Citation

Hichem A. Bouayed, Edwige E. Pissaloux, and Samer M. Abdallah "Vision system for fast 3D obstacle detection via sterovision matching", Proc. SPIE 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, (5 October 2001); https://doi.org/10.1117/12.444195

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