基于彩色立体视觉的障碍物快速检测方法

Fast Method for Obstacle Detection Based on Color Stereo Vision

1引言 移动机器人是能够在道路和野外连续地、实时地自主运动的智能机器人,是一种集环境感知、动态决策与规划、行为控制与执行等多项功能于一体的高智能化机器系统,其研究涉及图像实时处理、计算机视觉、传感器技术、人工智能、自动控制、计算机并行处理技术、机械学等多学科理论与技术,体现了信息科学和人工智能技术的最新成果,具有重要的军用及民用价值,该研究已成为国际机器人研究领域的热点.

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.