ISSN(Online): 2320-9801 ISSN (Print): 2320-9798 International Journal of Innovative Research in Computer and Communication Engineering (An ISO 3297: 2007 Certified Organization) Vol. 3, Issue 1, January 2015 Copyright to IJIRCCE 10.15680/ijircce.2015.0301005 24 Obstacle Avoidance Using Stereo Vision: A Survey Pritesh S. Sharma 1 , Dr. Nehal G. Chitaliya 2 PG Student, Dept of E&C, SVIT, Vasad, Anand, India 1 Associate Professor, Dept of E&C, SVIT, Vasad, Anand, India 2 ABSTRACT: Stereoscopy is a technique used for recording and representing stereoscopic (3D) images. It can create an illusion of depth using two pictures taken at two or more slightly different positions. There are two possible way of taking stereoscopic pictures by using special two-lens stereo cameras or systems with two single-lens cameras joined together. Stereoscopic pictures allow us to calculate the distance from the camera(s) to the chosen object within the picture. One of the most important features for any intelligent ground vehicle is based on how is reliable and complete the perception of the environment and the capability to discriminate what an obstacle is. Stereovision system used to detect the distance from the obstacle by disparity of images. Stereo vision system provides pair of stereo images to determine distance after the detecting the object and measure distance from it and avoid the object. Avoidance done by any of the controlling device when getting the detection decision form stereo system. KEYWORDS: Distance, stereo vision, disparity, matching, camera calibration, measurement. I. INTRODUCTION Obstacle avoidance is one of the main control system components in autonomous vehicles since a reliable perception of the real world is a key-feature for any obstacle detection system for dynamic environments. In last years, most of the historical approaches in literature have been readjusted in the framework of stereo vision and other 3D perception technologies (e.g. LIDAR) and important results have been provided by several experiments on autonomous ground vehicle. In order to achieve a good performance, most of the algorithms need some assumptions about the ground [21] or about the approximated free space on it. Blindness is defined as the state of being sightless. This paper is organized as follows. Section II discusses the related work. Section III discusses the basics of stereo matching techniques. Section IV discusses the different types of applications based on stereo vision. Finally section V gives conclusion. II. RELATED WORK Stereoscopy is a technique used for recording and representing stereoscopic images. It can create an illusion of depth using two pictures taken at slightly different positions. In 1838, British scientist Charles Wheatstone invented stereoscopic pictures and viewing devices. Stereo vision is a technique for building a three dimensional description of a scene observed from several viewpoints. It is considered passive if no additional lighting of the scene, for instance by laser beam, is required. So defined, passive stereo vision happens to be very attractive for many applications in robotics, including 3-D object recognition and localization as well as 3-D navigation of mobile robots[18]. A. Stereo vision Stereo vision is the extraction of 3D information from digital images, such as obtained by a ccd camera. By comparing information about a scene from two vantage points, 3D information can be extracted by examination of the relative positions of objects in the two panels.[5] This is similar to the biological process stereopsis. In traditional stereo vision, two cameras, displaced horizontally from one another are used to obtain two differing views on a scene, in a manner similar to human binocular vision. The recovery of the 3D structure of a scene using two or more images of the 3D scene,