Stereo Vision Robot Obstacle Detection Based on the SIFT

This paper presents a method of binocular vision obstacle detection based on SIFT feature matching algorithm. First, a model of depth measurement based on stereo vision is built, it does not require resume the three-dimensional coordinate of spatial point under the world coordinate system. According...

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Bibliographic Details
Published in2010 Second WRI Global Congress on Intelligent Systems Vol. 2; pp. 274 - 277
Main Authors Nuan Shao, Hui-Guang Li, Le Liu, Zhan-Ling Zhang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2010
Subjects
binocular stereo vision
Calibration
Cameras
depth measurement
Feature extraction
obstacle detection
Pixel
Robots
SIFT feature matching
Stereo vision
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Summary:This paper presents a method of binocular vision obstacle detection based on SIFT feature matching algorithm. First, a model of depth measurement based on stereo vision is built, it does not require resume the three-dimensional coordinate of spatial point under the world coordinate system. According to the characteristics of the model, we proposed the binocular stereo vision calibration method based on parallel optical axis, Finally, the pixel coordinates of matching points are extracted with SIFT feature matching algorithm and completed the distance detection of the obstacle. The experimental results demonstrated the feasibility and effectiveness of the method.
ISBN:1424492475
9781424492473
ISSN:2155-6083
2155-6091
DOI:10.1109/GCIS.2010.168