The Solution of Stereo Correspondence Problem Using Block Matching Algorithm in Stereo Vision Mobile Robot

摘要

This paper presents the solution of stereo correspondence problem occur in comparing stereo images on stereo vision mobile robot using block matching algorithm. The algorithm is using Sum of Absolute Differences (SAD). Left image works as a reference block to the right image and the output is disparity mapping with the left coordinate system. The stereo vision baseline is based on horizontal configuration. The block matching technique is briefly described with the performance of its output. The curve fitting tool will determine the range of each obstacle detected in disparity mapping. The programming activities are using Matlab software starting from capturing images until navigation of mobile robot.