PVHL-based Local 3D Map Building

Abstract

D map building is an important task of autonomous land vehicle(ALV) for obstacle detection, path planning. This paper analyzes the defects of the traditional 3D map building method, and then proposes a novel method based on projection of virtual height line(PVHL). The method projects virtual height line(VHL) into the stereo vision system by transforming the world coordinate of each point on VHL into its image coordinate, and generates two projection lines(PLs) in two images. On the two PLs, only the correspondence that is the projection of the intersection point of VHL and the surface of the scene has the maximum similarity metric. Then finding the height of the scene point is equivalent to proving whether the real correspondence of VHL has the maximum similarity metric or not. Experiments show that the proposed method is effective. And compared with that of the traditional, the results show that the proposed avoids unnecessary computation time and has better performance than the traditional, and can build the interested region only.