The 2005 DARPA Grand Challenge was a 213 Km robot race across the Mojave Desert between Nevada and California. Our team attempted to run the course using only stereo vision. I designed a novel real-time large-image stereo vision system that uses sparse stereo and is biologically inspired. It uses a filter similar to that used in primary visual cortex to locate small line segments. These are then arranged to form a polyline representation of the scene and estimate the depth. The technique was capable of nine frames per second of a megapixel image on a single processor. Accuracy was questionable and the robot did not compete in the race for other reasons.


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    Title :

    Non-pixel Robot Stereo


    Contributors:


    Publication date :

    2007-04-01


    Size :

    223165 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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