Disparity Mapping for Navigation of Stereo Vision Autonomous Guided Vehicle

摘要

Stereo vision system is a practical method for depth gathering of objects and features in an environment. This paper presents the disparity mapping for navigation of stereo vision autonomous guided vehicle using block matching algorithm. The stereo vision baseline is based on horizontal configuration. The block matching technique is briefly described with the performance of its output. The disparity mapping is generated by the algorithm with reference to the left image coordinate. The algorithm is using Sum of Absolute Differences (SAD) which runs in Matlab software.