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.
Motion stereo for navigation of autonomous vehicles in man-made environments
Bewegungsstereoskopie zur Navigation selbstaendiger Fahrzeuge in vom Menschen erstellter Umgebung
Pattern Recognition ; 20 , 1 ; 105-113
1987
9 Seiten, 8 Quellen
Article (Journal)
English
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