Passive Recovery of Scene Geometry for an Unmanned Ground Vehicle.
Final technical rept. Nov 91-Dec 94,
SRI INTERNATIONAL MENLO PARK CA
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The goal of this project was to develop techniques for constructing three-dimensional descriptions of outdoor scenes to support the navigational needs of an Unmanned Ground Vehicle UGV, operating both during the day and at night. In this report we describe our progress in four areas Stereo Evaluation - We performed an in-depth evaluation of three representative stereo techniques by analyzing the results on 49 stereo pairs. Scene Sketch - We developed a high-level representation of an outdoor scene, which we call a scene sketch., that can describe the semantic, as well as geometric properties of a three-dimensional scene. Spatiotemporal Filtering - We developed a technique for increasing the resolution and robustness of passive range sensors by integrating stereo and motion analysis. FLIR Stereo - We demonstrated the effectiveness of stereo analysis applied to infrared data, which makes passive night driving possible. MM
- Surface Transportation and Equipment
- Land and Riverine Navigation and Guidance