{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T17:40:02Z","timestamp":1737222002786,"version":"3.33.0"},"reference-count":17,"publisher":"Wiley","issue":"10","license":[{"start":{"date-parts":[[2007,3,22]],"date-time":"2007-03-22T00:00:00Z","timestamp":1174521600000},"content-version":"vor","delay-in-days":5924,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Systems &amp;amp; Computers in Japan"],"published-print":{"date-parts":[[1991,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The authors devised a method (disparity prediction Stereopsis method) which calculates the range of the disparity which corresponds to the space where a robot is due to move and predicts the existence or non\u2010existence of the object by matching the edge segment extracted from the stereo images with the range of the disparity. The method is applied to the obstacle detection in the navigation of the mobile robot. The object to be detected is a still object standing on a floor.<\/jats:p><jats:p>First, the existence of the object is predicted by the stereo matching of vertical edges. The remaining edges are examined only if the matched vertical edge exists. As a result, the efficiency is improved. In this method, the range of search is restricted and local matching is tried. Consequently, an incorrect match (false match) is produced easily in the background, in the environment with low contrast.<\/jats:p><jats:p>To remedy this adverse effect, the floor region extraction process is executed by assuming the spatial continuity and the similarity of the gray\u2010level distribution in the near region. If the lower end of the matched edge is contained in the floor region, the object is decided as a candidate for the obstacle. By this decision scheme, the probability of misdetection of the object which does not interfere with the space where the robot is due to move such as the object far and high above the viewpoint and the object hanging on the front wall can be reduced. This improves the reliability. By the indoor evaluation experiment, such as the scene of laboratory, the usefulness of the method is verified. The motion control of the robot is attempted in an environment simulating a nuclear power plant.<\/jats:p>","DOI":"10.1002\/scj.4690221006","type":"journal-article","created":{"date-parts":[[2007,7,7]],"date-time":"2007-07-07T19:34:49Z","timestamp":1183836889000},"page":"50-60","source":"Crossref","is-referenced-by-count":3,"title":["Obstacle detection by disparity prediction stereopsis method"],"prefix":"10.1002","volume":"22","author":[{"given":"Mutsumi","family":"Watanabe","sequence":"first","affiliation":[]},{"given":"Kazunori","family":"Onoguchi","sequence":"additional","affiliation":[]},{"given":"Yoshinori","family":"Kuno","sequence":"additional","affiliation":[]},{"given":"Haruo","family":"Asada","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"M.WatanabeandH.Fukui.An experiment of object detection by disparity prediction stereo method. 31st Nat. Conv. Inf. Proc. Soc. Jap. 4N\u20105(March1985)."},{"key":"e_1_2_1_3_2","unstructured":"M.Watanabe K.Onoguchi andH.Hoshino.A mobile vision system using stereopsis\u2014Experimental system. Tech. Rep. CV Inf. Proc. Soc. Jap. 42\u20102(May1986)."},{"key":"e_1_2_1_4_2","unstructured":"M.WatanabeandK.Onoguchi.Obstacle detection by disparity prediction method. 35th Nat. Conv. Inf. Proc. Soc. Jap. 6J\u20105(Sept.1987)."},{"key":"e_1_2_1_5_2","unstructured":"K.Onoguchi M.Watanabe andH.Asada. A position verification system for mobile robot. Tech. Rep. CV Inf. Proc. Soc. Jap. 57\u20103 (Nov.1988)."},{"key":"e_1_2_1_6_2","unstructured":"M.Watanabe K.Onoguchi andH.Asada. An obstacle detection system using stereopsis. Tech. Rep. PRU Inf. Proc. Soc. Jap. 88\u2013103 (Jan.1989)."},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/PROC.1983.12684"},{"key":"e_1_2_1_8_2","unstructured":"T.Kanade C.Thorpe S.Shafer andM.Hebert. Three\u2010dimensional vision for an autonomous vehicle. Proc. of International Workshop on Industrial Applications of Machine Vision and Machine Intelligence pp.375\u2013386(Feb.1987)."},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/34.3899"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"V.Graefe.Dynamic vision systems for autonomous mobile robot. Proc. IROS '89 pp.12\u201323(1989).","DOI":"10.1109\/IROS.1989.637882"},{"key":"e_1_2_1_11_2","unstructured":"M.Watanabe K.Onoguchi Y.Kuno H.Hoshino andS.Tsunekawa.Obstacle detection method for mobile robots with stereo vision. Proc. of 5th SCIA pp.325\u2013334(June1987)."},{"issue":"12","key":"e_1_2_1_12_2","first-page":"1101","article-title":"Binocular stereopsis for object recognition","volume":"37","author":"Yasue T.","year":"1974","journal-title":"Mem. Electrotech. Lab."},{"key":"e_1_2_1_13_2","doi-asserted-by":"crossref","unstructured":"K.Mori M.Kidode andH.Asada.An iterative prediction and correlation method for automatic stereo comparison. CGIP2 pp.393\u2013401(1973).","DOI":"10.1016\/0146-664X(73)90016-6"},{"key":"e_1_2_1_14_2","first-page":"1","article-title":"A high\u2010speed segment match search in stereo image","volume":"86","author":"Ohta T.","year":"1986","journal-title":"Tech. Rep. PRU Inf. Proc. Soc. Jap."},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1126\/science.968482"},{"key":"e_1_2_1_16_2","unstructured":"F.Tomita.Matching based on border segment of regions in stereo image. Tech. Rep. CV Inf. Proc. Soc. Jap. 38\u20131(1985)."},{"key":"e_1_2_1_17_2","doi-asserted-by":"crossref","unstructured":"N.AyacheandB.Faverjon.Efficient registration of stereo images by matching graph description of edge segments. IJCV (1986).","DOI":"10.1007\/BF00123161"},{"key":"e_1_2_1_18_2","unstructured":"H.Ishiguroat al.A mobile robot with vision\u2014Development of Harunobu No. 4. 36th Nat. Conv. Inf. Proc. Soc. Jap. 2V\u20134(March1988)."}],"container-title":["Systems and Computers in Japan"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Fscj.4690221006","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/scj.4690221006","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T16:58:37Z","timestamp":1737219517000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/scj.4690221006"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,1]]},"references-count":17,"journal-issue":{"issue":"10","published-print":{"date-parts":[[1991,1]]}},"alternative-id":["10.1002\/scj.4690221006"],"URL":"https:\/\/doi.org\/10.1002\/scj.4690221006","archive":["Portico"],"relation":{},"ISSN":["0882-1666","1520-684X"],"issn-type":[{"type":"print","value":"0882-1666"},{"type":"electronic","value":"1520-684X"}],"subject":[],"published":{"date-parts":[[1991,1]]}}}