ARPA Unmanned Ground Vehicle Stereo Vision Program at Teleos Research
Abstract
This report reviews the work done during 1992 at Teleos Research in support of ARPA's UGV program. It first gives a broad overview of Teleos' approach to studying visual perception. In particular, the concept of minimal- meaningful-measurement tools is developed as a natural methodology for allowing a higher level application process to easily influence and exploit basic measurement modalities. The sign correlation algorithm under development at Teleos is then described in this context and the current performance benchmarks of our accelerator technology are presented. Several important results in stereo theory were obtained this year including: the development of techniques for automatically setting stereo matcher operating parameters, an analysis identifying the principal parameters affecting the magnitude of the disparity gradient effects, and a technique for improving area correlator performance in the presence of large stereo disparity gradients. Contributions were also made to the development and implementation of methods for evaluating stereo matching algorithms. UGV application specific studies were carried out in the areas of narrow-field-of-view stereo; wide field-of-view, high-resolution stereo mosaic building; stereo landmark navigation; 3-D tracking of moving objects; evaluation of hardware accelerators; and development of a low-cost mobile test facility. Stereo vision, Active vision, Real-time vision, Unmanned ground vehicle, Disparity gradients, Area correlation.
Document Details
- Document Type
- Technical Report
- Publication Date
- Apr 01, 1993
- Accession Number
- ADA267632
Entities
People
- H. K. Nishihara