Fuzzy Free Path Detection based on Dense Disparity Maps obtained from Stereo Cameras

Autores UPV
Año
Revista INTERNATIONAL JOURNAL OF UNCERTAINTY FUZZINESS AND KNOWLEDGE-BASED SYSTEMS

Abstract

In this paper we propose a fuzzy method to detect free paths in real-time using digital stereo images. 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. By applying least-squares fitting over groups of disparity maps columns to a linear model, free paths are detected by giving a certainty using a fuzzy rule. Experimental results on real outdoor images are also presented.