Active Stereo and Motion Vision for Vehicle Navigation

Abstract

This report describes work accomplished by Teleos Research in support of DARPA's Unmanned Ground Vehicle (UGV) Program. The presentation focuses on making forward- looking projections about opportunities for visual sensing on unmanned military vehicles based on the experience of this research program. A case is made for deploying UGV's following a small system model. Trends in commodity processor technology enable this possibility. The relationship between system cost and operational conservatism, system size and fragility, and speed and effort reguired, all support a shift towards smaller, cheaper implementations. We believe that this development model will rapidly take hold over the coming years. This report also presents a brief review of stereo performance characteristics relevant to the UGV mobility application. Several new techniques for enhancing stereo performance, including soft surface detection and disparity gradient compensation, are described.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1998
Accession Number
ADA351972

Entities

People

  • H. K. Nishihara
  • J. B. Burns
  • Richard L. Marks
  • Stanley J. Rosenschein

Tags

Communities of Interest

  • Sensors

DTIC Thesaurus Topics

  • Cameras
  • Commodities
  • Computers
  • Correlators
  • Detection
  • Disparities
  • Engineering
  • Geometry
  • Image Processing
  • Materials
  • Measurement
  • Mobility
  • Navigation
  • Range Finding
  • Three Dimensional
  • Unmanned Ground Vehicles
  • Vehicles

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Computer Vision.
  • Systems Analysis and Design

Technology Areas

  • Autonomy