A method for navigation of autonomous vehicles in outdoor environment through stereo correspondence

The authors have discussed a methodology of using stereo matching (stereo correspondence) to generate a disparity map of a scene whose images were taken through two cameras which are setup in a stereo vision configuration. Some of the algorithms which can be used to for this purpose are discussed. The generated disparity map is segmented to identify closest obstacles. Based on this data a kalman filter based path planning algorithm is suggested to facilitate the movement of the robot from a source point to a destination.