Stereo-vision based control of a car using fast line-segment extraction

Brian McKinnon*, Jacky Baltes, John Anderson

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper describes our work on applying stereo vision to the control of a car or car-like mobile robot, using cheap, low-quality cameras. Our approach is based on line segments, since those provide significant information about the environment, provide more depth information than point features, and are robust to image noise and colour variation. However, stereo matching with line segments is a difficult problem, due to poorly localized end points and perspective distortion. Our algorithm uses integral images and Haar features for line segment extraction. Dynamic programming is used in the line segment matching phase. The resulting line segments track accurately from one frame to the next, even in the presence of noise.

Original languageEnglish
Title of host publicationRoboCup 2008
Subtitle of host publicationRobot Soccer World Cup XII
Number of pages12
Publication statusPublished - 2009
Externally publishedYes
Event12th annual RoboCup International Symposium, RoboCup 2008 - Suzhou, China
Duration: 2008 Jul 152008 Jul 18

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5399 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other12th annual RoboCup International Symposium, RoboCup 2008

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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