System of Stereovision Based on Fuzzy-Logical Method of Constructing Depth Map

Abstract

This article considers the distance measurement to objects using video processing to construct a depth map using the modified algorithm of sum of absolute differences (SAD). According to the measured distance to the objects, the required rotation angle of the mobile robot is given to travel around the obstacle. The SAD algorithm is implemented using a fuzzy-logical system with soft arithmetic operations in the structure of fuzzy inference. In the experimental part, a depth map is constructed to measure the distance to the object.