A Stereo Matching Algorithm based on Top-view Transformation and Dynamic Programming for Road-vehicle Detection

作者：Lee Ki Yong; Lee Joon Woong^*; Houshangi Nasser

来源：International Journal of Control Automation and Systems, 2009, 7(2): 221-231.

DOI：10.1007/s12555-009-0208-6

• Dynamic programming
• hypothesis generation and verification
• polar accumulation function
• stereo and temporal matching
• top-view transformation

This paper presents an algorithm to detect vehicles on roads and to measure inter-vehicle distance. Hypothesis generation and verification are the bases of the algorithm. The hypothesis generation is composed of I) transformation of a pair of perspective stereo images into a pair of virtual stereo top-view images; 2) construction of polar accumulation functions (PAFs) for the stereo top-view images; and 3) stereo matching of PAFs by dynamic programming. The verification is comprised of I) temporal matching of PAFs by dynamic programming and 2) verifying the potential positions of objects. Through Multiple experiments in various environments, the proposed algorithm has been proven to be effective in detecting vehicles on roads and for measuring inter-vehicle distance.

• 出版日期2009-4