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FUZZY FREE PATH DETECTION BASED ON DENSE DISPARITY MAPS OBTAINED FROM STEREO CAMERAS

NURIA ORTIGOSA, SAMUEL MORILLAS, GUILLERMO PERIS-FAJARNÉS, LARISA DUNAI
2012 International Journal of Uncertainty Fuzziness and Knowledge-Based Systems  
It is based on looking for linear variations of depth in disparity maps, which are obtained by processing a pair of rectified images from two stereo cameras.  ...  In this paper we propose a fuzzy method to detect free paths in real-time using digital stereo images.  ...  Fuzzy free path detection based on dense disparity maps obtained from stereo cameras 3 9, 2012 14:25 WSPC/INSTRUCTION FILE FreePathDetectionUsingFuzzyLogic Table 1 . 1 Fuzzy free path detection  ... 
doi:10.1142/s0218488512500122 fatcat:gqbkxokfrjcqfhq43lepdss2jq

Fuzzy Free Path Detection from Disparity Maps by Using Least-Squares Fitting to a Plane

Nuria Ortigosa, Samuel Morillas
2013 Journal of Intelligent and Robotic Systems  
It is based on the analysis of disparity maps obtained from a stereo vision system which is carried by the blind user.  ...  The presented detection method consists of a fuzzy logic system that assigns a certainty to be part of a free path to each group of pixels, depending on the parameters of a planarmodel fitting.  ...  The detection method is based on processing the information captured by a pair of stereo cameras and the disparity maps obtained.  ... 
doi:10.1007/s10846-013-9997-1 fatcat:ncxtme4f7jaknfqj55gydvw2p4

3D Probabilistic Occupancy Grid to Robotic Mapping with Stereo Vision [chapter]

Anderson A. S. Souza, Rosiery Maia, Luiz M. G. Gonalves
2012 Current Advancements in Stereo Vision  
A strategy based on stop points and feature detection (mainly using gradient of disparity) is also being developed in order to determine regions in which a more detailed map is necessary.  ...  The map was built with the polar coordinates of the straight obtained from imaging by Hough transform.  ... 
doi:10.5772/49050 fatcat:fa22umwvpndpzlpp7espoctrqm

Blind Navigation Support System based on Microsoft Kinect

Vítor Filipe, Filipe Fernandes, Hugo Fernandes, António Sousa, Hugo Paredes, João Barroso
2012 Procedia Computer Science  
Using neural networks, the proposed system uses this information to extract relevant features from the scene, enabling the detection of possible obstacles along the way.  ...  Depth data of the scene in front of the user is acquired using the Microsoft Kinect sensor which is then mapped into a pattern representation.  ...  Penedo et al. also proposed a real time stereo vision system that uses one relative view (right camera) and a depth map (from the stereo vision equipment) to feed a fuzzy-based clustering module which  ... 
doi:10.1016/j.procs.2012.10.011 fatcat:odltbgefnbeslfh4j2ywwydmpi

MULTI-VIEW STEREO WITH SEMANTIC PRIORS

E.-K. Stathopoulou, F. Remondino
2019 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
</strong> Patch-based stereo is nowadays a commonly used image-based technique for dense 3D reconstruction in large scale multi-view applications.  ...  The typical steps of such a pipeline can be summarized in stereo pair selection, depth map computation, depth map refinement and, finally, fusion in order to generate a complete and accurate representation  ...  SfM refers to the camera pose estimation and sparse point cloud generation based on the accurate detection and matching of homologous image features.  ... 
doi:10.5194/isprs-archives-xlii-2-w15-1135-2019 fatcat:dpr25rh7xrgd7bzybqsqsmaidi

New Robust Obstacle Detection System Using Color Stereo Vision [chapter]

Iyadh Cabani, Gwenaelle Toulminet, Abdelaziz Bensrhair
2011 Advances in Theory and Applications of Stereo Vision  
The disparity map obtained with these methods is more accurate than that obtained by the dynamic programming. These methods have tendency to flatten objects on the disparity map.  ...  The result of color matching based on dynamic programming is a sparse disparity map.  ...  New Robust Obstacle Detection System Using Color Stereo Vision, Advances in Theory and Applications of Stereo Vision, Dr Asim Bhatti (Ed.), ISBN: 978-953-307-516-7, InTech, Available from: http://www.intechopen.com  ... 
doi:10.5772/12981 fatcat:h7nageiih5awxigm5r7diursa4

A new fuzzy based algorithm for solving stereo vagueness in detecting and tracking people

Rui Paúl, Eugenio Aguirre, Miguel García-Silvente, Rafael Muñoz-Salinas
2012 International Journal of Approximate Reasoning  
This paper describes a system capable of detecting and tracking various people using a new approach based on color, stereo vision and fuzzy logic.  ...  Our technique outperforms two well known tracking approaches, one based on the method from Nummiaro et al. [1] and other based on the Kalman/meanshift tracker method in Comaniciu and Ramesh [2] .  ...  This method is known for its speed, simplicity and robustness, and generates dense disparity images. The camera used on this work, is a Bumblebee digital stereo vision camera from Point Grey [37] .  ... 
doi:10.1016/j.ijar.2011.11.003 fatcat:suaj72lrjjhvtmds72jsc4ksfy

A State-of-the-Art Analysis of Obstacle Avoidance Methods from the Perspective of an Agricultural Sprayer UAV's Operation Scenario

Shibbir Ahmed, Baijing Qiu, Fiaz Ahmad, Chun-Wei Kong, Huang Xin
2021 Agronomy  
In this regard, this article seeks to review the most relevant developments on all correlated branches of the obstacle avoidance scenarios for agricultural sprayer UAVs, including a UAV sprayer's structural  ...  The present study concludes that UAV sprayers are still facing obstacle detection challenges due to their dynamic operating and loading conditions.  ...  Stereo-Vision Based Stereo-vision, also known as binocular stereo-vision, uses multiple camera feeds from different angles to generate depth and detect stereo-vision-based obstacles [275] .  ... 
doi:10.3390/agronomy11061069 fatcat:ycb4qs4vqrcbdp6jlda2ifatmq

Intelligent Surveillance System Based on Stereo Vision for Level Crossings Safety Applications [chapter]

Nizar Fakhfakh, Louahdi Khoudour, Jean-Luc Bruyelle, El-Miloudi El-Koursi
2012 Recent Developments in Video Surveillance  
This allows obtaining, for each obstacle, a high accurate dense disparity map.  ...  The first column corresponds to the left-hand images acuiqres from the left camera. The middle column represents the first disparity map obtained from the WACD stereo matching algorithm.  ...  Intelligent Surveillance System Based on Stereo Vision for Level Crossings Safety Applications, Recent Developments in Video Surveillance, Dr.  ... 
doi:10.5772/30400 fatcat:ltwhpqota5ewtnj3iok4bedjre

Research on Intelligent Flight Software Robot Based on Internet of Things

Yibin Hou, Jin Wang
2017 Global Journal of Technology and Optimization  
In order to make life better and more convenient, the research of Internet of Things technology and application, focusing on research based on the Internet of intelligent flight spherical monitoring software  ...  of things embedded technology, simulation technology, large data technology, cloud computing robot, robot autonomy technology and so on.  ...  An accurate, dense disparity map will provide a good foundation for subsequent obstacle detection and 3D object recognition.  ... 
doi:10.4172/2229-8711.1000221 fatcat:64nqg53s7zff7fxiklpdd4biwu

Expanding the Detection of Traversable Area with RealSense for the Visually Impaired

Kailun Yang, Kaiwei Wang, Weijian Hu, Jian Bai
2016 Sensors  
in Henderson, NV, USA) estimates the depth map through stereo matching of images from two or more lenses.  ...  Stereo cameras, such as the Bumblebee [22] (developed by PointGrey based in Richmond, BC, Canada), ZED [23] (developed by Stereolabs based in San Francisco, USA), and DUO [24] (developed by DUO3D based  ...  based in Henderson, NV, USA) estimates the depth map through stereo matching of images from two or more lenses.  ... 
doi:10.3390/s16111954 pmid:27879634 pmcid:PMC5134613 fatcat:n26mttjp7naotding53yi6n52y

IVVI 2.0: An intelligent vehicle based on computational perception

D. Martín, F. García, B. Musleh, D. Olmeda, G. Peláez, P. Marín, A. Ponz, C. Rodríguez, A. Al-Kaff, A. de la Escalera, J.M. Armingol
2014 Expert systems with applications  
IVVI 2.0: An intelligent vehicle based on computational perception. a b s t r a c t This paper presents the IVVI 2.0 a smart research platform to foster intelligent systems in vehicles.  ...  Com putational perception in intelligent transportation systems applications has advantages, such as huge data from vehicle environment, among others, so computer vision systems and laser scanners are  ...  So, this method for detecting obstacles has, as a result, two different dense disparity maps: the obstacle map ( Fig. 4(c) ) and the free map ( Fig. 4(d) ).  ... 
doi:10.1016/j.eswa.2014.07.002 fatcat:vd3qz3fjdnhttphb2nirzayx5m

Review on Vehicle Detection Technology for Unmanned Ground Vehicles

Qi Liu, Zirui Li, Shihua Yuan, Yuzheng Zhu, Xueyuan Li
2021 Sensors  
Secondly, related works about one of the most important aspects of environmental perception technology—vehicle detection—are reviewed and compared in detail in terms of different sensors.  ...  Finally, promising research topics in the future study of vehicle detection technology for UGVs are discussed in detail.  ...  In [120] , a mean-shift algorithm was proposed based on a semi-dense disparity map to achieve vehicle detection and tracking.  ... 
doi:10.3390/s21041354 pmid:33672976 fatcat:ammlsccxbbhgpkx6r5vod7ciuy

A Biologically Inspired Approach for Robot Depth Estimation

Ester Martinez-Martin, Angel P. del Pobil
2018 Computational Intelligence and Neuroscience  
Mainly, from a stereo image pair, a set of complex Gabor filters is applied for estimating an egocentric quantitative disparity map.  ...  So, from neuroscience findings, a hierarchical four-level dorsal architecture has been designed and implemented.  ...  As our goal is to extract dense and reliable depth information from the observed scene, stereo-matching algorithms based on area have been studied.  ... 
doi:10.1155/2018/9179462 pmid:30210534 pmcid:PMC6126064 fatcat:55ispm63ljbmzgkwzob2fk5doe

Review of Obstacle Avoidance System

Amruta Vaibhav Adwant, Nitin Motgi, Yogesh Jangale
2022 Zenodo  
Obstacle avoidance is an important issue for old age people, disabled people, for surface vehicle, underwater vehicles, and aerial vehicles and on robots.  ...  The system which can be easily worn by the people and was washable was developed on the cloths [1] . A dense disparity map used for detection.  ...  The Obstacle Avoidance System uses highly advanced path planning algorithms to find the most accurate, safe, collision free path from starting position to destination.  ... 
doi:10.5281/zenodo.5812560 fatcat:poyzcd6dnjdivngouleje53nku
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