How to extract objects from an Image and find their distance from the stereo camera system?

Hello,

I am doing a project Obstacle Detection System for Visually Impaired in Real Time. I am using a stereo camera system to obtain depth of the pixels of an image. I have calibrated the cameras, rectified the images and created the disparity map of the images in real time.

Now, I want to extract all the objects which are at 0 to 5 metre of distance from the camera system. Also the stereo camera system is moving.

For the extraction of objects, I have referred this example: http://in.mathworks.com/help/vision/ref/reconstructscene.html, where after disparity map creation, objects within the range of 3.2 to 3.7 meters from the cameras are segmented out of the image using repmat function.

Now the problem is, after extraction, I am not able to identify how many objects are segmented. In the example, a girl and a box are segmented, i.e. 2 objects within the range from the stereo system.

Since I have disparity map, I can calculate the distance of the objects from the stereo camera system, but I am not able to count how many objects are there because each of the objects may have a different depth.

Please help.

[Pamela Erin Rosario]

Hi,

May I know if did you managed to solve your queries? Because I am also having a similar problem where I need to get the depth of an object. Hope to receive a reply soon. Thank you.