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1 February 1991 Topographic mapping for stereo and motion processing
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Proceedings Volume 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods; (1991)
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
Topographic mappings are neigbourhood preserving transformations between twodimensional data structures. Mappings of this type are a general means of information processing in the vertebrate visual system. In this paper we present an application of a special topographic mapping termed the inverse perspective mapping for the computation of stereo and motion. More specifically we study a class of algorithms for the detection of deviations from an expected " normal" situation. These expectations concern the global spacevariance of certain image parameters (e. g. disparity or speed of feature motion) and can thus be implemented in the mapping rule. The resulting algorithms are minimal in the sense that no irrelevant information is extracted from the scene. In a technical application we use topographic mappings for a stereo obstacle detection system. The implementation has been tested on an automatically guided vehicle (AGV) in an industrial environment. 1
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Hanspeter A. Mallot, Thomas Zielke, Kai Storjohann, and Werner von Seelen "Topographic mapping for stereo and motion processing", Proc. SPIE 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods, (1 February 1991);


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