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Proceedings Paper

Vision system for fast 3D obstacle detection via sterovision matching
Author(s): Hichem A. Bouayed; Edwige E. Pissaloux; Samer M. Abdallah
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Paper Abstract

Image matching is one of the fundamental problems of computer vision. Various approaches exist. They differ essentially by extracted primitives, by the best match search strategy, and by final applications. Feature based dense matching methods use such geometric primitives as raw pixels, edges, interest points, etc. Some of the correlation based matching methods involve a distance calculation. A time consuming operation. Its enhancement adds pixel complex photometric characteristics such as gradient direction, local curvature and luminosity local disparity, what increases the matching time, but they are usually very noisy. The matching method noise dependency and data volume can be reduced when improving the interest point robustness. This paper proposes to add to interest point primitive a set (vector) of simple characteristics (geometric and photometric), which are invariant to geometric plan transforms. A matching method based upon these enriched pixels and accumulation array concept is presented as well. These elements are useful for 3D obstacle detection in the ongoing project intelligent glasses, our final application. The intelligent glasses is a vision system for humanoid robot and for blind/visually impaired persons under joint development by Rouen University and Robotics Laboratory in Paris.

Paper Details

Date Published: 5 October 2001
PDF: 6 pages
Proc. SPIE 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, (5 October 2001); doi: 10.1117/12.444195
Show Author Affiliations
Hichem A. Bouayed, Lab. de Robotique de Paris/CNRS (France)
Edwige E. Pissaloux, Lab. de Robotique de Paris/CNRS and Univ. de Rouen (France)
Samer M. Abdallah, American Univ. of Beirut (Lebanon)

Published in SPIE Proceedings Vol. 4572:
Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall, Editor(s)

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