MOBILE ROBOT STEREOVISION SYSTEM FOR REAL-TIME OBSTACLE DETECTION
In this paper the computationally efficient method of 3D-objects detection is proposed. The object is located on a relatively smooth surface of known analytical model and registered stereoscopically by stereovision system of mobile robot. The key idea of proposed method is to reduce the problem of 3D-objects detection to the problem of simple 2D-structure detection on special orthogonal projections of stereo images to the underlying surface. Projections are generated in polar coordinate system (polar orthophoto). 3D-object raised above the surface corresponds to simple cluster of vertical straight-line edges on polar orthophotos. To find these edges the hardware supported image processing procedures are proposed such as image convolution and brightness projections. Implementation of the method is considered for real-time car collision avoidance system.