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A Flexible Free-space Detection System Based on Stereo Vision by Qiwei Xie; Ranran Liu; Zhao Sun; Shanshan Pei; Feng Cui is a Computer Science article available to read on EtoBox.

What is A Flexible Free-space Detection System Based on Stereo Vision about?

Free-space detection is considered as one of the most important tasks in intelligent vehicle, which remains the essential requirement for obstacle detection and path planning. As a part of Internet of Things, vehicle-based device produces a large amount of data requiring to be processed in real-time. Therefore, this study proposes a fast free-space detection system with a mobile platform based stereo vision. The current system processes the image-based perception signal in terminal equipment, which avoids lots of data transmissions between cloud and vehicle. In terms of flexibility and robustness, a fast spare disparity matching algorithm is suggested to be real-timely processed in a low-power mobile platform. Based on the spare disparity map, the current work improves the u-disparity space algorithm as the u-log-disparity space with the aim to detect the free-space for significantly lowering the running time. Besides, we also provide a complete system design including hardware and software. The experiments demonstrate that our system is precise and robust under complex real-time driving environment.

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Author

Qiwei Xie; Ranran Liu; Zhao Sun; Shanshan Pei; Feng Cui

Publisher

Elsevier BV

Published

2022

Language

EN

Field

Computer Science (Physical Sciences)