Accession Number : ADA266670


Title :   Passive Recovery of Scene Geometry for an Unmanned Ground Vehicle


Descriptive Note : Annual rept. Nov 91-Nov 92,


Corporate Author : SRI INTERNATIONAL MENLO PARK CA


Personal Author(s) : Bolles, Robert C


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a266670.pdf


Report Date : May 1993


Pagination or Media Count : 34


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.


Descriptors :   *UNMANNED , *GROUND VEHICLES , *COMPUTER VISION , ALGORITHMS , AUXILIARY , RECOVERY , ENVIRONMENTS , MULTIPLEXING , PHOTOMETRY , SURFACE NAVIGATION , OUTDOOR , VEHICLES , GEOMETRY , CAMERAS , CONTRACTS , TRACKING , THREE DIMENSIONAL


Subject Categories : Cybernetics
      Land and Riverine Navigation and Guidance


Distribution Statement : APPROVED FOR PUBLIC RELEASE