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Clustering and Tracking of Obstacles Using Stereo Vision System
Naoki Suganuma 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The driving support is one of the most important research areas in intelligent transport system (ITS).Moreover, obstacle extraction system is one of most important system. Here, baseline length of our stereovision systemis shorter than general one so that the room mirror can cover it. Accordingly, it can be placed unobtrusively and never beunsighted for the driver. Therefore, our stereovision system is suite for interior sensor. In our previous report, weproposed an obstacle extraction method using such stereovision system, and traditional "V-Disparity" approach wasextended to more flexible system by using Virtual Disparity Image. Hereby obstacles can be extracted even if thevehicle has large roll movement. In this paper, we will discuss about clustering and tracking method of obstacles.