A Trinocular Stereo System for Highway Obstacle Detection

This paper presents a trinocular stereo algorithm that we have developed as part of an obstacle detection system that detects small obstacles at long range on the highway. We describe the stages of the stereo algorithm itself, and the reasons behind the design decisions that were made. This is followed by a description of the obstacle detection system that we have built. Finally, we show results from our system for a variety of different obstacles.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Todd Williamson, Charles E. Thorpe
• Keywords: ICRA 1999, Obstacle Detection, Robotics, Stereo Algorithm, Trinocular Stereo Algorithm