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Proceedings Paper

Stereovision-based 2D spatial map construction for a safe vehicle driving
Author(s): Jung-Hwan Ko; Jung-Suk Lee
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Paper Abstract

In this paper, the method for an effective and intelligent route decision of an unmanned ground vehicle (UGV) using a 2D spatial map of the stereo camera system is proposed. The depth information and disparity map are detected in the inputting images of a parallel stereo camera. The distance between the automatic moving robot and the obstacle detected and the 2D spatial map obtained from the location coordinates, and then the relative distance between the obstacle and the other objects obtained from them. The unmanned ground vehicle moves automatically by effective and intelligent route decision using the obtained 2D spatial map. From some experiments on robot driving with 24 frames of the stereo images, it is analyzed that error ratio between the calculated and measured values of the distance between the objects is found to be very low value of 1.57% on average, respectably.

Paper Details

Date Published: 24 August 2006
PDF: 9 pages
Proc. SPIE 6312, Applications of Digital Image Processing XXIX, 63121T (24 August 2006); doi: 10.1117/12.682711
Show Author Affiliations
Jung-Hwan Ko, Incosys Co., Ltd. (South Korea)
Jung-Suk Lee, Inha Technical College (South Korea)


Published in SPIE Proceedings Vol. 6312:
Applications of Digital Image Processing XXIX
Andrew G. Tescher, Editor(s)

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