Environmental Recognition for Advanced Safety Vehicle Using Stereo Vision System

摘要

In this paper, we introduce our stereovision system and obstacle detection system using it. Stereovision system, like humans do, can treat details of three-dimensional information, and environmental information can be analyzed by the system. In our system, the geometry between camera coordinate system and road surface can be estimated by the Hough transformation of the disparity image given by the analysis of stereo images. Almost all of obstacles, furthermore, can be extracted using disparity image based on the geometry. Finally, our system is evaluated by the highway on the expressway involving IC, JCT, land so on.