| 摘要: |
| 针对障碍物检测问题中特殊的要求和特点,受原有的利用特征点匹配计算视差方法的启发,提出了一种全新的快速匹配检测障碍物的方法--表面方向法,可以描述平面的方向.与计算深度确定障碍物的方法不同,该算法根据物体表面基本与地面垂直这一特性来检测障碍物. |
| 关键词: 计算机视觉 障碍物检测 表面方向 视差 标定 |
| DOI： |
| 分类号: |
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| An Obstacle Detection Method Based on Surface Direction |
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MA Geng-yu,LIN Xue-yin
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| Abstract: |
| Elicited by the original steoro matching method, considering the specialities of the obstacle detection task, and in order to cope with its difficulties, a new fast and robust obstacle detection method is presented in this paper. Being different from origin methods based on the depth of obstacl object, the presented method uses a newcharacterization-plan s direction. This charaction identifies the vertical surface of obstacle object from thehorizonal surface of ground. |
| Key words: computer vision obstacle detection surface direction parallax calibration |
