An outdoors obstacle detection algorithm based on disparity slicing

Rumin Zhang; Yao Zheng; Futing Zhang; Weitong Cai; Liaoyuan Zeng

doi:10.1117/12.2524332

6 May 2019 An outdoors obstacle detection algorithm based on disparity slicing

Rumin Zhang, Yao Zheng, Futing Zhang, Weitong Cai, Liaoyuan Zeng

Proceedings Volume 11069, Tenth International Conference on Graphics and Image Processing (ICGIP 2018); 110693R (2019) https://doi.org/10.1117/12.2524332
Event: Tenth International Conference on Graphic and Image Processing (ICGIP 2018), 2018, Chengdu, China

Abstract

In this paper, we propose a new disparity-based obstacle detection method for intelligent vehicle. The disparity maps captured by the stereo vision system ZED is utilized to detect obstacles in outdoor environment. This method consists of several steps namely, histogram calculation based on the disparity map, peaks finding using Non-Maximum Suppression (NMS), disparity slicing and obstacle detection using contours. The first step is to obtain the distribution of the pixels in the disparity map. The second step is performed to get the peaks in the histogram after the binary processing on the disparity map. However, there are always many noise objects in the binary image. The real obstacle area needs to be separated from the noise obstacles. Thus, the third step is performed to filter the binary image based on a statistics by column and then segment the detected obstacle area. The last step is to calculate the obstacle including its size, distance and position on the disparity map. A series of experiments prove that the proposed method is accurate at detecting obstacles and calculating the required information based on stereovision techniques.

Citation Download Citation

Rumin Zhang, Yao Zheng, Futing Zhang, Weitong Cai, and Liaoyuan Zeng "An outdoors obstacle detection algorithm based on disparity slicing", Proc. SPIE 11069, Tenth International Conference on Graphics and Image Processing (ICGIP 2018), 110693R (6 May 2019); https://doi.org/10.1117/12.2524332

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