The Solution of Stereo Correspondence Problem Using Block Matching Algorithm in Stereo Vision Mobile Robot

This paper presents the solution of stereo correspondence problem occur in comparing stereo images on stereo vision mobile robot using block matching algorithm. The algorithm is using Sum of Absolute Differences (SAD). Left image works as a reference block to the right image and the output is dispar...

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Bibliographic Details
Published in2010 Second International Conference on Computer Research and Development pp. 733 - 737
Main Authors Hamzah, Rostam Affendi, Hamid, Afifah Maheran Abdul, Salim, Sani Irwan Md
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2010
Subjects
Block matching
Cameras
Computer vision
disparity mapping
epipolar line
Mathematical model
Mobile robots
Navigation
obstacle detection
Robot vision systems
Solids
Stereo image processing
Stereo vision
Vehicles
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Summary:This paper presents the solution of stereo correspondence problem occur in comparing stereo images on stereo vision mobile robot using block matching algorithm. The algorithm is using Sum of Absolute Differences (SAD). Left image works as a reference block to the right image and the output is disparity mapping with the left coordinate system. The stereo vision baseline is based on horizontal configuration. The block matching technique is briefly described with the performance of its output. The curve fitting tool will determine the range of each obstacle detected in disparity mapping. The programming activities are using Matlab software starting from capturing images until navigation of mobile robot.
ISBN:9780769540436
0769540430
DOI:10.1109/ICCRD.2010.167