Accession Number : ADA309654

Title :   Motion Analysis and Object Recognition for Autonomous Navigation.

Descriptive Note : Final technical rept. Sep 89-Mar 91,

Corporate Author : MASSACHUSETTS UNIV AMHERST DEPT OF COMPUTER AND INFORMATION SCIENCE

Personal Author(s) : Riseman, Edward M. ; Hanson, Allen R.

PDF Url : ADA309654

Report Date : APR 1992

Pagination or Media Count : 41

Abstract : The research in computer vision described in this final report is directed towards the achievement of autonomous vehicle navigation using passive visual sensing. For a modeled environment, we have implemented a navigation system incorporating reactive planning, and based on the identification of known landmarks in the 3D scene. Robust algorithms have been demonstrated for the recovery of pose--the position and orientation of the camera--from model matching between the image and known environment. For an unknown environment, a navigation system has been demonstrated in which image based homing is used to move between neighboring target locations. For a completely unknown environment, multi frame structure from motion algorithms have been developed which use image sequences for the reconstruction of the camera motion and environmental structure. In a partially modeled environment, the combination of pose recovery with triangulation over image sequences yields a robust, accurate algorithm for incremental acquisition of a 3D scene model. Lastly, a new framework for obstacle detection from motion has been developed and demonstrated experimentally. In the area of static image interpretation and object recognition, research has been done on perceptual organization, invariant features, 3D reconstruction, and the automatic learning of strategies for object recognition. We have developed a new approach to distinguishing figure from ground, a prerequisite for obstacle detection, based on perceptual grouping techniques.

Descriptors :   *AUTONOMOUS NAVIGATION, *COMPUTER VISION, ALGORITHMS, IMAGE PROCESSING, TARGET ACQUISITION, TARGET RECOGNITION, MOTION, ORIENTATION(DIRECTION), KALMAN FILTERING, PASSIVE SYSTEMS, COMPUTER ARCHITECTURE, PARALLEL PROCESSORS, IDENTIFICATION, FRAMES, TARGET DETECTION, STATISTICAL PROCESSES, INVARIANCE, HOMING, PERCEPTION, SHADOWS, VIDEO MAP MATCHING.

Subject Categories : Bionics
      Land and Riverine Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE