The XH-map algorithm: A method to process stereo video to produce a real-time obstacle map

Donald Rosselot; Ernest L. Hall

doi:10.1117/12.631018

24 October 2005 The XH-map algorithm: A method to process stereo video to produce a real-time obstacle map

Donald Rosselot, Ernest L. Hall

Proceedings Volume 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision; 60060K (2005) https://doi.org/10.1117/12.631018
Event: Optics East 2005, 2005, Boston, MA, United States

Abstract

This paper presents a novel, simple and fast algorithm to produce a "floor plan" obstacle map in real time using video. The XH-map algorithm is a transformation of stereo vision data in disparity map space into a two dimensional obstacle map space using a method that can be likened to a histogram reduction of image information. The classic floor-ground background noise problem is addressed with a simple one-time semi-automatic calibration method incorporated into the algorithm. This implementation of this algorithm utilizes the Intel Performance Primitives library and OpenCV libraries for extremely fast and efficient execution, creating a scaled obstacle map from a 480x640x256 stereo pair in 1.4 milliseconds. This algorithm has many applications in robotics and computer vision including enabling an "Intelligent Robot" robot to "see" for path planning and obstacle avoidance.

Citation Download Citation

Donald Rosselot and Ernest L. Hall "The XH-map algorithm: A method to process stereo video to produce a real-time obstacle map", Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 60060K (24 October 2005); https://doi.org/10.1117/12.631018

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