ARPA Unmanned Ground Vehicle Stereo Vision Program
Abstract
This report documents work carried out at Teleos Research in support of the UGV Demo II mission. This research has been divided between basic studies relating to binocular stereo, shape recognition and technology development. Teleos' approach to the study of visual perception embodies a strategy for focusing on the minimal form of perceptual measurement that is meaningful or useful. Several new stereo techniques were developed under this research program including: a way to automatically set stereo matcher operating parameters, an analysis of stereo disparity gradients, and a method for improving area correlator performance in the presence of disparity gradients. Several new techniques for shape detection and recognition are reported. An active vision system for tracking moving objects applies results from the stereo and shape recognition work. A number of efforts were directed at supporting the UGV mission, including the use of narrow-field-of-view stereo for vehicle navigation; very high resolution wide-field-of-view stereo to support landmark based navigation; test data collection for comparison and performance evaluation; and collaborative efforts with the other UGV stereo contractors at SRI and JPL to foster technology transfer.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 01, 1994
- Accession Number
- ADA277460
Entities
People
- H. K. Nishihara
- Hans Thomas
- J. B. B.
- Matthew Turk
- Stanley J. Rosenschein