Range measurements to objects in the world relative to mobile platforms such as ground or air vehicles are critical for visually aided navigation and obstacle detection/avoidance. An approach is presented that consists of a synergistic combination of two types of passive ranging method: binocular stereo and motion stereo. We show a new way to model the errors in binocular and motion stereo in conjunction with an inertial navigation system (INS) and derive the appropriate Kalman filter to refine the estimates from these two stereo ranging techniques. We present results using laboratory images that show that refined estimates can be optimally combined to give range values which are more accurate than any one of the individual estimates from binocular and motion stereo. By incorporating a blending filter, the approach has the potential of providing accurate, dense range measurements for all the pixels in the field of view (FOV).<>


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    Title :

    Synergism of binocular and motion stereo for passive ranging


    Contributors:
    Bhanu, B. (author) / Das, S. (author) / Symosek, P. (author) / Snyder, S. (author) / Roberts, B. (author)


    Publication date :

    1994-07-01


    Size :

    1069395 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Synergism of binocular and motion stereo for passive ranging

    Bhanu, B. / Das, S. / Symosek, P. et al. | Tema Archive | 1994


    Binocular motion stereo using MAP estimation

    Abdel-Mottaleb, M. / Chellappa, R. / Rosenfeld, A. | IEEE | 1993



    Comparison of motion and stereo methods in passive ranging systems

    Sridhar, Banavar / Suorsa, Raymond | NTRS | 1991