Publications:Obstacle Detection For Thin Horizontal Structures
From ISLAB/CAISR
| Title | Obstacle Detection For Thin Horizontal Structures |
|---|---|
| Author | Klas Hedenberg and Björn Åstrand |
| Year | 2008 |
| PublicationType | Conference Paper |
| Journal | |
| HostPublication | World Congress on Engineering and Computer Science : WCECS 2008 : 22-24 October, 2008, San Francisco, USA |
| Conference | World Congress on Engineering and Computer Science, 22-24 October, 2008, San Francisco, USA |
| DOI | |
| Diva url | http://hh.diva-portal.org/smash/record.jsf?searchId=1&pid=diva2:239924 |
| Abstract | Many vision-based approaches for obstacle detection often state that vertical thin structure is of importance, e.g. poles and trees. However, there are also problem in detecting thin horizontal structures. In an industrial case there are horizontal objects, e.g. cables and fork lifts, and slanting objects, e.g. ladders, that also has to be detected. This paper focuses on the problem to detect thin horizontal structures. The system uses three cameras, situated as a horizontal pair and a vertical pair, which makes it possible to also detect thin horizontal structures. A comparison between a sparse disparity map based on edges and a dense disparity map with a column and row filter is made. Both methods use the Sum of Absolute Difference to compute the disparity maps. Special interest has been in scenes with thin horizontal objects. Tests show that the sparse dense method based on the Canny edge detector works better for the environments we have tested. |
