In order to navigate, vehicles need to deduce their movements in given environments. The authors describe a method for wide-angle motion stereo to aid such navigations. The approach uses vertices of objects observed in a scene as features to be matched in the two images. The matching is done in the 3-D world with the guidance of a base line which can be seen in both images. The candidate vertices for matching are obtained from analyzing (1) the edge maps of input images using a junction type table; and (2) the range information of the segments which form the vertices. Range information is obtained by inverse perspective transformation. Some experimental results are shown.


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    Title :

    Motion stereo for navigation of autonomous vehicles in man-made environments


    Additional title:

    Bewegungsstereoskopie zur Navigation selbstaendiger Fahrzeuge in vom Menschen erstellter Umgebung


    Contributors:
    Tsukiyama, T. (author) / Huang, T.S. (author)

    Published in:

    Pattern Recognition ; 20 , 1 ; 105-113


    Publication date :

    1987


    Size :

    9 Seiten, 8 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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