Obstacle detection is a crucial issue for pilotless device guidance function and it has to be performed with high reliability to avoid any potential collision with the front object. The vision-based obstacle detection systems are regarded perfect for this purpose because they require little on all kind of condition. In this paper, an obstacle detection system using stereo vision sensors and structured light is developed. This system realizes rapid feature matching and high precision measurement distance with the help of structured light, avoiding the time-consuming of the initial corresponding pairs. After the initial detection, the system executes the tracking light strip algorithm for the obstacles. The proposed system can detect a front obstacle in vision field and obtain the size of obstacle. The proposed obstacle detection system is set up and its performance is verified experimentally
New Robust Obstacle Detection System Using Color Stereo Vision
