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

Brian McKinnon; Jacky Baltes; John Anderson

doi:10.1007/978-3-642-02921-9_48

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 proceeding › Conference contribution

Abstract

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 language	English
Title of host publication	RoboCup 2008
Subtitle of host publication	Robot Soccer World Cup XII
Pages	556-567
Number of pages	12
DOIs	https://doi.org/10.1007/978-3-642-02921-9_48
Publication status	Published - 2009
Externally published	Yes
Event	12th annual RoboCup International Symposium, RoboCup 2008 - Suzhou, China Duration: 2008 Jul 15 → 2008 Jul 18

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	5399 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	12th annual RoboCup International Symposium, RoboCup 2008
Country/Territory	China
City	Suzhou
Period	2008/07/15 → 2008/07/18

ASJC Scopus subject areas

Theoretical Computer Science
Computer Science(all)

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10.1007/978-3-642-02921-9_48

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McKinnon, B., Baltes, J., & Anderson, J. (2009). Stereo-vision based control of a car using fast line-segment extraction. In RoboCup 2008: Robot Soccer World Cup XII (pp. 556-567). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5399 LNAI). https://doi.org/10.1007/978-3-642-02921-9_48

Stereo-vision based control of a car using fast line-segment extraction. / McKinnon, Brian; Baltes, Jacky; Anderson, John.
RoboCup 2008: Robot Soccer World Cup XII. 2009. p. 556-567 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5399 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

McKinnon, B, Baltes, J & Anderson, J 2009, Stereo-vision based control of a car using fast line-segment extraction. in RoboCup 2008: Robot Soccer World Cup XII. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 5399 LNAI, pp. 556-567, 12th annual RoboCup International Symposium, RoboCup 2008, Suzhou, China, 2008/07/15. https://doi.org/10.1007/978-3-642-02921-9_48

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

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