FUZZY FREE PATH DETECTION BASED ON DENSE DISPARITY MAPS OBTAINED FROM STEREO CAMERAS
In this paper we propose a fuzzy method to detect free paths in real-time using digital stereo images. It is based on looking for linear variations of depth in disparity maps, which are obtained by processing a pair of rectified images from two stereo cameras. By applying least-squares fitting over groups of disparity maps columns to a linear model, free paths are detected by giving a certainty using a fuzzy rule. Experimental results on real outdoor images are also presented.
fuzzy logic computer vision stereo vision assisted navigation