A Method for Navigation of Autonomous Vehicles in Outdoor Environment through Stereo Correspondence

Shetty, Akhil Appu and George, V I and Nayak, Gurudas C and Shetty, Raviraj (2020) A Method for Navigation of Autonomous Vehicles in Outdoor Environment through Stereo Correspondence. Journal of Advanced Research in Dynamical and Control Systems, 12 (3). pp. 1044-1050. ISSN 1943-023X

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Abstract

The authors have discussed a methodology of using stereo matching (stereo correspondence) to generate a disparity map of a scene whose images were taken through two cameras which are setup in a stereo vision configuration. Some of the algorithms which can be used to for this purpose are discussed. The generated disparity map is segmented to identify closest obstacles. Based on this data a kalman filter based path planning algorithm is suggested to facilitate the movement of the robot from a source point to a destination

Item Type: Article
Uncontrolled Keywords: Stereo Correspondence, Sum of Absolute Differences, Normalised Cross Correlation, Disparity Map, Path Planning, Kalman Filter
Subjects: Engineering > MIT Manipal > Instrumentation and Control
Engineering > MIT Manipal > Mechanical and Manufacturing
Depositing User: MIT Library
Date Deposited: 03 Sep 2020 08:55
Last Modified: 03 Sep 2020 08:55
URI: http://eprints.manipal.edu/id/eprint/155606

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