Onward movement detection and distance estimation of object using disparity map on stereo vision

The object tracking is used as instruction controller in wheelchair that track the movement direction of object along time. The movement direction include left, right and onward. The left and right direction can be calculated by using the changing of x-coordinate of object in every sub sequence frame. The challenge is to determine the onward moving. The onward moving cannot calculate simply by coordinate of object in 2D. The solution to detect the onward moving is by using the stereo vision camera. We proposed a method to detect the onward movement and calculate the distance of object from camera using stereo vision. The detection rate is 83.1%. The estimation of object distance from the camera is actually only 3-4 meters away. The system detect that the distance of object is 0-5 meters in front of the camera. The determination of distance estimation is appropriate with the actual distance state.