嵌入式论文集，可以作为很好的学习丰富经验-Abstract　The research and development of a real——time visual obstacle detection system are pre—-

sented in the paper．The stereo vision system is realized by using a single camera and the optical

and electrical identities of binocular image pair are kept．The image reprojection transformation

brings zero disparities for the road surface features and thus facilitate the obstacle detection．The