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Obstacle Detection Based on Occupancy Grid Maps Using Stereovision System

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Abstract

We previously reported on an obstacle detection method using a stereovision system. The system generated disparity images that include three-dimensional spatial information. Using these images, obstacles could be detected, but some false positives were generated. In this paper, we attempt to eliminate this problem and propose a method that generates Occupancy Grid Maps based on measurements from a stereovision system which leads to robust obstacle detection. Furthermore, it is confirmed that high distance accuracy can be achieved by using our method.

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Authors and Affiliations

  1. Graduate School of Natural Science & Technology, Kanazawa University, Kanazawa, Ishikawa, Japan

    Kenji Kohara

  2. Institute of Science and Engineering, Kanazawa University, Kakuma-cho, Kanazawa, Ishikawa, 920-1192, Japan

    Naoki Suganuma

  3. Tokyo R&D Center, Panasonic Corporation, 600 Saedo-cho, Tsuzuki-ku, Yokohama, 224-8539, Japan

    Tatsuyuki Negishi & Takuya Nanri

Authors
  1. Kenji Kohara
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  2. Naoki Suganuma
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  3. Tatsuyuki Negishi
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  4. Takuya Nanri
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Corresponding author

Correspondence to Naoki Suganuma.

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Kohara, K., Suganuma, N., Negishi, T. et al. Obstacle Detection Based on Occupancy Grid Maps Using Stereovision System. Int. J. ITS Res. 8, 85–95 (2010). https://doi.org/10.1007/s13177-010-0009-6

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  • DOI: https://doi.org/10.1007/s13177-010-0009-6

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