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浙江大学学报(工学版)
浙江大学学报(工学版)
计算机技术﹑电信技术     
基于视差空间V-截距的障碍物检测
曹腾,项志宇,刘济林
浙江大学 信息与电子工程学系 浙江省综合信息网重点实验室,浙江 杭州 310027
Obstacle detection based on V-intercept in disparity space
CAO Teng, XIANG Zhi-yu, LIU Ji-lin
Department of Information Science and Electronic Engineering, Zhejiang Provincial Key Laboratory of Information Network Technology, Zhejiang University, Hangzhou 310027, China
 全文: PDF(2996 KB)  
摘要：

为了更加高效地完成对基于双目立体视觉的驾驶系统的环境分析,提出新的应用于视差空间中分析障碍的“V-截距”方法.与传统在三维空间中的障碍检测方法不同,该方法直接在视差空间中进行检测,通过将障碍坡度信息转换为视差空间中V轴的截距实现检测.推导视差空间中的坡度-截距转换关系,划定合理的阈值区间.整个检测算法具有快速高效的特点,在原理上不受平面道路的假设约束,具有很强的实际应用价值.多种环境下的实验证明：该方法的障碍物检测效果可靠、稳定,检测速度是基于三维空间的方法的3.9倍.
关键词： 视差空间;  立体视觉;  障碍物检测;  V-截距    
Abstract:

A new analysis method of obstacles in the disparity space with “V-intercept” concept was proposed in order to analyze the environment around stereo vision based  driving systems more effectively,  Unlike the traditional methods which detected the obstacles in 3D space, this method worked directly in the disparity space, converting the obstacles slope information into intercept on V axis in disparity space to achieve detection. Conversion relationship between slope and intercept was derived in the disparity space, and  reasonable threshold interval was determined. The whole detection algorithm was fast and efficient, and was not affected by the assumption of flat road from the principle, giving a strong practical value. Experiments in multiple environments showed that  result of this method was  reliable and stable, which was 3.9 times faster than that of 3D space based method．
Key words: stereo vision    disparity space    V-intercept    obstacle detection
出版日期: 2015-04-12
:  TP 242.6  
基金资助:

国家自然科学基金资助项目（61071219）
通讯作者: 项志宇，男，副教授     E-mail: xiangzy@zju.edu.cn
作者简介: 曹腾（1988-），男，博士生，从事立体视觉与路径规划研究. E-mail: teng.cao@foxmail.com
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引用本文:

曹腾,项志宇,刘济林. 基于视差空间V-截距的障碍物检测[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2015.03.003.

CAO Teng, XIANG Zhi-yu, LIU Ji-lin. Obstacle detection based on V-intercept in disparity space. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2015.03.003.

链接本文:

http://www.zjujournals.com/xueshu/eng/CN/10.3785/j.issn.1008-973X.2015.03.003    或    http://www.zjujournals.com/xueshu/eng/CN/Y2015/V49/I3/409

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