1 November 1992 Incorporating color and spatiotemporal stereovision techniques for road following
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Proceedings Volume 1825, Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision; (1992) https://doi.org/10.1117/12.131544
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
Abstract
This paper proposes a method of implementing stereovision in existing mobile robot perception systems without having to solve the classical stereo correspondence problem. The proposed method makes use of the fact that tracking of features is an easier task than performing stereo correspondence. A two-view motion stereo system is implemented in which the correspondence between two cameras is found by temporal stereo tracking. The algorithm assumes an initial stereo match of homologous features seen in the two cameras but subsequently the algorithm reliably tracks each feature by use of accurate odometric information, and accurate 3-D information can be derived from each matched feature. The derived set of 3-D data (of points, lines, and regions) are then fed to a fast surface reconstruction algorithm for later stage interpretation. The proposed scheme can be added to existing mobile robot road following systems at little added cost.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Eric Sung, Toe Myint, "Incorporating color and spatiotemporal stereovision techniques for road following", Proc. SPIE 1825, Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision, (1 November 1992); doi: 10.1117/12.131544; https://doi.org/10.1117/12.131544
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