Analyse vidéo en temps réel pour une plateforme mobile: détection d’objets mobiles et d’obstacles
Alessandro Limongiello · HAL (Le Centre pour la Communication Scientifique Directe) · 2007
We introduce a vision system for autonomous navigation of a mobile platform. This system is able to interact with is immediate environment by recognizing obstacles and moving objects and means of a stable representation of external world. This system is made of 3 components : external world representation, obstacles detection and avoidance, behavioral analysis. The main contribution of this work lies in the perceptive representation of the external world, e. G. A representation compared to the final goal of autonomous navigation. This representation is based on the stereovision paradigm and is able to determine in the scene obstacles and moving objects. Our approach returns the depth of any region. The location estimation of regions is precise with respect to navigation requirements and the system is fast enough for real time applications