Fast Method for Obstacle Detection Based on Color Stereo Vision

摘要

Real-time obstacle detection method is a key technique for machine vision based mobile robot and autonomous land vehicle navigation in unstructured environments. In this paper, considering the real-time requirement for stereo matching algorithm, an adaptive color segmentation method for possible obstacle region detection is first developed based on the color feature, and a simple region based stereo matching algorithm of binocular vision for real obstacle recognition is also introduced. Obstacle detection is implemented by combining the road color adaptive segmentation method and region based stereovision method. Lots of experiment results show that the proposed approach can detect obstacle quickly and effectively, and this algorithm is particularly suited for road environments in which the road is relatively flat and of roughly the same color.