Accession Number : ADA193120

Title :   Three-Dimensional Scene Analysis Using Stero Based Imaging.

Descriptive Note : Master's thesis,

Corporate Author : AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING

Personal Author(s) : Roberts, Richard E

PDF Url : ADA193120

Report Date : 09 Dec 1987

Pagination or Media Count : 127

Abstract : This thesis presents a new method for using passive binocular vision to create a map of th top-view of a robot's environment. While numerous autonomous robot navigation systems exist, most attempt to match objects in each image by following edges or locating significant groups of edge pixels. The method described in this paper uses two cameras (aligned in parallel) to generate stereo images. Low level image features were extracted using a new non-linear production rule system, rather than a conventional filter design. The features are registered by matching correspondingly shaped regions of constant brightness levels in both images and the offset are then computed. The use of heuristics to relieve the computational burden associated with low level image processing is unique; both in processing the images and in locating matching regions in the images. The feature extraction algorithm; the intermediate symbolic representations, and the application of these results to hierarchical structures common to context queuing systems are presented.

Descriptors :   *IMAGE PROCESSING, *COMPUTER GRAPHICS, *STEREOMAPPING, ALGORITHMS, AUTONOMOUS NAVIGATION, BRIGHTNESS, CAMERAS, EDGES, ENVIRONMENTS, EXTRACTION, FILTERS, HEURISTIC METHODS, HIERARCHIES, IMAGES, LOW LEVEL, MATCHING, MATHEMATICAL ANALYSIS, PASSIVE SYSTEMS, QUEUEING THEORY, REGIONS, ROBOTS, SHAPE, STRUCTURES, SYMBOLS, THREE DIMENSIONAL, VISUAL PERCEPTION, THESES

Subject Categories : Navigation and Guidance
      Computer Programming and Software

Distribution Statement : APPROVED FOR PUBLIC RELEASE