Browsing by Author "Nolte, Armand"
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- ItemFeasibility study of stereo vision as a stand-alone sensor for obstacle detection.(Stellenbosch : Stellenbosch University, 2017-03) Nolte, Armand; Smit, W.; Stellenbosch University. Faculty of Engineering. Dept. Mechanical and Mechatronic Engineering.ENGLISH ABSTRACT: The need for obstacle detection and the estimation of the relative distance of the objects is increasing in the field of robotics. The feasibility of using stereo vision as a means of detecting objects and their relative distance was investigated in this study. The aim was to implement obstacle detection within an area with moving objects and a moving vehicle. Objects were detected using disparity map generation. Different noise filtering techniques were applied to the disparity map to enhance the results. The noise filtering techniques tested for spatial aliasing, occlusion and low texture regions. To further improve the result, the disparity map of the current time frame was compared to that of its predecessor. The resulting disparity map showed large noise reductions but noise was still present. With slow-moving vehicles, the improved algorithm gives promising results.