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

Brian McKinnon, Jacky Baltes, John Anderson

研究成果: 書貢獻/報告類型會議貢獻

摘要

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.

原文英語
主出版物標題RoboCup 2008
主出版物子標題Robot Soccer World Cup XII
頁面556-567
頁數12
DOIs
出版狀態已發佈 - 2009 九月 28
事件12th annual RoboCup International Symposium, RoboCup 2008 - Suzhou, 中国
持續時間: 2008 七月 152008 七月 18

出版系列

名字Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
5399 LNAI
ISSN(列印)0302-9743
ISSN(電子)1611-3349

其他

其他12th annual RoboCup International Symposium, RoboCup 2008
國家中国
城市Suzhou
期間08/7/1508/7/18

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • 引用此

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