MasterThesis

Object Detection and Tracking Systems with Stereo Vision for Autonomous Driving

Abstract

• Obtaining disparity image in order to obtain depth information of the each pixel of the image
• Changing one of the image channels with disparity image
• Observing the effect of the change on object tracking algorithms( CSRT , MOSSE etc.)

Software Tools

• Ubuntu 16
• Virtual Box
• OpenCV
• CMake

Programming Language

• C ++

Disparity Image

Unfiltered Bounding Boxes

Filtered Bounding Boxes

The image having a disparity image as third channel

3D represantation of the objects at ROS Rviz environment