Accession Number : ADA303483

Title :   Passive Recovery of Scene Geometry for an Unmanned Ground Vehicle.

Descriptive Note : Final technical rept. Nov 91-Dec 94,

Corporate Author : SRI INTERNATIONAL MENLO PARK CA

Personal Author(s) : Bolles, Robert C. ; Fischler, Martin A.

PDF Url : ADA303483

Report Date : SEP 1995

Pagination or Media Count : 49

Abstract : The goal of this project was to develop techniques for constructing three-dimensional descriptions of outdoor scenes to support the navigational needs of an Unmanned Ground Vehicle (UGV), operating both during the day and at night. In this report we describe our progress in four areas: Stereo Evaluation - We performed an in-depth evaluation of three representative stereo techniques by analyzing the results on 49 stereo pairs. Scene Sketch - We developed a high-level representation of an outdoor scene, which we call a 'scene sketch'., that can describe the semantic, as well as geometric properties of a three-dimensional scene. Spatiotemporal Filtering - We developed a technique for increasing the resolution and robustness of passive range sensors by integrating stereo and motion analysis. FLIR Stereo - We demonstrated the effectiveness of stereo analysis applied to infrared data, which makes passive night driving possible. (MM)

Descriptors :   *IMAGE PROCESSING, *GROUND VEHICLES, *REMOTELY PILOTED VEHICLES, *SURFACE NAVIGATION, RECOVERY, FORWARD LOOKING INFRARED SYSTEMS, PASSIVE SYSTEMS, OPTICAL DATA, TERRAIN, THREE DIMENSIONAL, UNMANNED, GEOMETRY, INFRARED RADIATION, STEREOMAPPING.

Subject Categories : Cybernetics
      Surface Transportation and Equipment
      Land and Riverine Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE