Vol. 4, Issue 5, Part C (2018)

Abstract
This paper presents multi-resolution real-time range map generation for stereo vision-based autonomous navigation system using template matching and the enhanced sum of absolute difference algorithm. Stereo vision sensor captures images from two different viewpoints to reconstruct the 3-dimensional information and navigate the autonomous ground vehicle by visual perception of the environment. The multi-resolution range map for the two images captured by stereo vision camera is generated using the high performance enhanced sum of absolute differences (SAD) algorithm, thereby computing the range of the object in the image. The depth of the object in the image is a vital parameter which is used by the autonomous navigation system.