基于双目立体视觉的障碍物检测方法

摘要

提出了一种基于双目视觉的V视差图障碍物检测算法。根据生成的视差图进一步生成V-视差图,提取V-视差图中的直线信息,通过这些直线信息可以锁定障碍物存在的大致区域,进而检测障碍物。该算法对于光照、阴影等干扰不敏感,可以检测具有面特征的障碍物,适用于复杂背景下的障碍物检测。%An obstacle detection Algorithm based on the V-disparity of Binocular Stereo Vision is presented. Build the V- disparity according to the disparity image, extract the straight line information in the V-disparity, and detect the obstacles through these straight line informations. The algorithm descriped in this paper is not sensitive to illumination and shadow and can be applied to abstacle detection in compex background.