Depth evaluation in selected region of disparity mapping for navigation of stereo vision mobile robot

Abstract

Stereo vision system is a practical method for depth gathering of objects and features in an environment. This paper presents the depth evaluation in selected region of disparity mapping for stereo vision mobile robot using block matching algorithm. This region is a reference sight of the stereo camera and stereo vision baseline is based on horizontal configuration. The block matching technique is briefly described with the performance of its output. The disparity mapping is generated by the algorithm with the reference to the left image coordinate. The algorithm uses Sum of Absolute Differences (SAD) which is developed using Matlab software.