Passive Recovery of Scene Geometry for an Unmanned Ground Vehicle

Abstract

The primary goal of this project is to develop a passive technology for recovering scene geometry in order to support an Unmanned Ground Vehicle (UGV) operating in a general outdoor environment. We focus on our evaluation of current stereo techniques. We report the results of the first phase of this evaluation and discuss plans for the second phase. In addition, we briefly describe our progress in the following areas: Development of new object tracking techniques; application of a new scene modeling technique (developed on a parallel contract at SRI) to UGV tasks; and development of two auxiliary techniques to support our research: a technique for generating synthetic stereo pairs and a technique for multiplexing imagery from a pair of moving cameras onto a single videotape.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 1993
Accession Number
ADA266670

Entities

People

  • Robert C. Bolles

Organizations

  • SRI International

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Algorithms
  • Artificial Intelligence
  • Computer Science
  • Computer Vision
  • Coordinate Systems
  • Geometry
  • Ground Vehicles
  • Object Recognition
  • Pattern Recognition
  • Range Finding
  • Recognition
  • Standards
  • Test And Evaluation
  • Three Dimensional
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Vehicles

Fields of Study

  • Computer science

Readers

  • Computer Vision.
  • Software Engineering
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy