Abstract—Stereo vision system is a practical method for depth gathering of objects and features in an environment. This paper presents the region of interest (ROI) in disparity mapping for stereo vision autonomous guided vehicle (AGV) using block matching algorithm. This region is a reference sight of stereo camera. Stereo vision baseline is using horizontal configuration. The block matching technique is briefly described with the performance of its output. The disparity mapping is generated by the algorithm with reference to the left image coordinate. The algorithm is using Sum of Absolute Differences (SAD) which runs in Matlab software.The result is the AGV is able to navigate with using disparity mapping fron ROI.

Index Terms—Block matching algorithm, disparity mapping, epipolar line, region of interest, stereo vision.

Anwar Hasni Abu Hasan is with School of Electrical & Electronic,University Science of Malaysia, Penang, Malaysia. (Email:anwar@usm.edu.my)
Rostam Affendi Hamzah is with Faculty of Electronics & Computer Engineering, UTeM, Melaka, Melaka, Malaysia. (email:rostamaffendi@utem.edu.my)
Mohd Haffiz Johar is with School of Electrical & Electronic, University Science of Malaysia, Penang, Malaysia. (email : jojo@yahoo.com)

Cite: Anwar Hasni Abu Hasan, Rostam Affendi Hamzah, and Mohd Haffiz Johar, "Region of Interest in Disparity Mapping for Navigation of Stereo Vision Autonomous Guided Vehicle," International Journal  of  Computer  and
Electrical Engineering vol. 2, no. 2, pp. 357-361, 2010.