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23 June 2000 Integrated radar-photometry sensor based on constrained optical flow
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Robotic teleoperation is a major research area with numerous applications. Efficient teleoperation, however, greatly depends on the provided sensory information. In this paper, an integrated radar- photometry sensor is presented. The developed sensor relies on the strengths of the two main modalties: robust radar-based range data, and high resolution dynamic photometric imaging. While radar data has low resolution and depth from motion in photometric images is susceptible to poor visibility conditions, the integrated sensor compensates for the flaws of the individual components. The integration of the two modalities is achieved by us ing the radar based range data in order to constrain the optical flow estimation, and fusing the resulting depth maps. The optical flow computation is constrained by a model flow field based upon the radar data, by using a rigidity constraint, and by incorporating edge information into the optical flow estimation. The data fusion is based upon a confidence estimation of the image based depth computation. Results with simulated data demonstrate the good potential of the approach.
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Youenn Fablet, Gady Agam, and Paul Cohen "Integrated radar-photometry sensor based on constrained optical flow", Proc. SPIE 4023, Enhanced and Synthetic Vision 2000, (23 June 2000);

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