Author(s)

L.X. Zhou & W.K. Gu

Abstract

Stereo vision is a straightforward approach for 3D information perception. However image correspondence is the most difficulty in real-time applications. In this paper a qualitative 3D scene verification method is proposed. The global correspondence problem is simplified to an optimization for disparity map parameters. The results of fitting provide the camera pose parameters. The obstacles are then detected from the abnormality of disparity. As we known, simple two-dimensional vision based road following methods are not sufficient for Autonomous Land Vehicle (ALV) navigation in complex environments under arbitrary weather and illumination conditions. They can not recognize 3D obstacles efficiently, and may detect the shadow or water on the road as false obstacl

Keywords