Publication Type:

Journal Article


International Journal of Applied Engineering Research, Research India Publications, Volume 10, Number 13, p.33351-33354 (2015)



Stereo Vision based depth estimation is being widely used in designing autonomous robots. Block matching is the commonly used method to find the depth of objects. While the outputs obtained is satisfactory, the complexity of the method, including rectification of each and every frame using the camera parameters, becomes very high. Such process cannot be efficiently carried out by development boards like Beagle Board or Raspberry Pi. This necessitates the need for developing a method which is computationally less intensive. This paper presents a method to estimate the depth of objects in a given scene by extracting their contours. Using the contours, disparity of the objects are found out, which is then used for estimating the object’s depth. The system is implemented and tested in a BeagleBoard-xM and theexecution time is compared with that of a personal computer. © Research India Publications.


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Cite this Research Publication

A. S. Nitheesh and Menon, H. P., “Contour based obstacle detection using stereo vision”, International Journal of Applied Engineering Research, vol. 10, pp. 33351-33354, 2015.