Abstract:

In cosideration of cross contry environment that is often variable in illumination and complicated in ciecumstance, a crosscountry environmental perception technique on the basis of stereo vision system was presented. The ooriginal images were preprocessed by Gauss filter and CLAHE method and Harris corners were located with subpixel accuracy. Fundamental matrix was calculated using RANSAC theory. And epipolar restrain and continuity restrain were deeply studued. Finally, 3D visulization techniques confirmed the effectiveness and feasibility of the proposed method.

Key words: engineering of communications and transportation system, crosscountry environmental perception, stereo vision, CLAHE preprocess, featurebased match