Region of interest in disparity mapping for distance estimation on stereo vision application

Abstract

Stereo vision system is a useful method for deepness or depth gathering of objects and features in an environment. This paper presents the region of interest ROI in disparity mapping to be analyzed to get the estimate distance on stereo vision applications. The stereo vision application in this paper is using a mobile robot that navigates using a pair of camera. The cameras work as a stereo vision sensor for its navigation. The ROI is a reference sight of the stereo camera which the pixel intensities from the disparity mapping determine the distance or depth using an algorithm. The stereo vision baseline is based on horizontal configuration. The matching process is using block matching technique which briefly described with the performance of its output. The disparity mapping is generated by the algorithm with the reference to the left image coordinate. The algorithm uses Sum of Absolute Differences (SAD) which is developed using Matlab software.