The Research&Implementation Of V-disparity Obstacle Detection Algorithm Based On Binocular Stereo Vision Technique

Two-camera stereo visual system is an important branch of robotic visual technologies. Computer vision is a resemblance to the visual perception procedure of mankind. Vision with dual-camera, which is often called binocular stereo vision, is a core research area in computer vision. Binocular stereo vision technique can be widely used in many domains. For example, obstacle detection, virtual reality, industry detection, navigation of robots, aviation and spaceflight, etc.The underlying obstacle information will be supplied for drivers or non-driver’s car by picking the information from binocular images in this paper. And the obstacle detection in the intelligent driving is the background of application, the images from binocular sensors as the studying object. This research is significative for intelligent driving and navigation of robots.This document is V-disparity obstacle detection algorithm based on binocular stereo vision. It contains the contents and the research to improve the contents as follows:1. Stereo matching, that is disparity image generating. First, we should rectify the stereo image. This article introduces a rectification method without calibration. After getting the rectified stereo images, we propose the segment-based stereo matching using belief propagation and a self-adapting dissmilarity measure. And get high-quality stereo disparity of the images;2. Obstacle detection and Measuring distance. The article introduces a V-disparity obstacle detection algorithm. Building the V-disparity according to the disparity image, we propose Linear Fitting algorithm based on Hough Conversion to extract the straight line information in the V-disparity, Through these straight line information we can detect the obstacles and measure the distance.