Obstacle Detection and Distance Estimation by Computer Vision for Indoor Corridor Environment

• Main Authors: Chih-I, Cheng, 鄭芝怡
• Other Authors: Tsu-Tian Lee
• Format: Others
• Language: en_US
• Published: 2002
• Online Access: http://ndltd.ncl.edu.tw/handle/71467859897086622287

碩士 === 國立交通大學 === 電機與控制工程系 === 90 === In this thesis, we will develop a binocular stereo vision system to be used as an automatic navigational system. The main purpose of the vision system is obstacle detection and distance estimation for the collision avoidance of the automatic navigational system. A binocular stereo vision system includes a pair of left and right cameras. To find the correspondence points of stereo images (stereo matching) is a main problem of the stereo vision system. The pixels in the left and right images have similar structure. We can use these characteristics to find the conjugate pair corresponding to projection points of the scene points in the left and right images and then calculate the depth of scene points by perspective projection and triangular geometry. Determining the corresponding points is the main purpose in this thesis. And in order to reduce the time for determining corresponding points of stereo images, we need to identify obstacles in the environment first. Thus we analyze color space of corridor images. Based on the characteristic feature of images, we set up a database of environment color distribution. The color-segmentation method is employed to separate the obstacles from environment. Then the corresponding points of obstacles images are determined and the disparity of corresponding points are measured. As a result, the distance between cameras and obstacle is determined. Experimental results are provided to illustrate validity and applicability of the developed algorithm.