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Desvio de Obstáculos Utilizando um Método Estéreo Semi-global

Caio César Teodoro MendesDenis Fernando Wolf

This paper presents an obstacle avoidance system using a stereo ca- mera as its primary sensor and a modified version of the VFH algorithm. In order to get a high accuracy disparity map and yet meet the real-time needs of the navigation system this work relies on a semi-global stereo method. We show the usability and advantages of the method by realizing experiments using our platform (an electric vehicle). The results show a navigation where the vehicle maintain a safe distance from the obstacles while moving.

http://www.lbd.dcc.ufmg.br/colecoes/enia/2011/0047.pdf

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