Machine Vision and Applications

, Volume 9, Issue 1, pp 9–13 | Cite as

Matching free stereovision for detecting obstacles on a ground plane

  • Ming Xie


This paper presents a method for detecting obstacles on a ground plane from a stereo pair of images. Although we use stereovision, the obstacle detection algorithm relies neither on stereo matching nor 3D reconstruction. The principle here is to apply the projective transformation constraining the left and right images to obtain a frame of superimposed features (e.g. edges). By analysing feature superimposition after the projective transformation, a free moving space or space occupied by obstacles/occluded features can be determined.

Key words

Stereovision Mobile robot guidance Obstacle detection Projective transformation 


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Copyright information

© Springer-Verlag 1996

Authors and Affiliations

  • Ming Xie
    • 1
  1. 1.School of Mechanical & Production EngineeringNanyang Technological UniversitySingapore

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