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28 April 2009 Real-time dense stereo system with rectification for autonomous navigation and mapping
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Abstract
The overall goal of the research project reported here is to create a novel system that can combine input from multiple passive sensors at different viewpoints (such as uninhabited aerial vehicles) into a single integrated three-dimensional (3D) view of a scene. This form of intelligent data processing, known as Volume Registration, can further exploit the available information to enable improved surveillance, reconnaissance and situational awareness, and thus offers substantial potential benefit to military applications. This paper focuses on the case of multiple sensors onboard UAVs operating at mid-altitude, and describes two complementary techniques that have been investigated in parallel to address this challenge. The first of these is depth from disparity, which allows a real-time per-pixel estimation of the distance of scene objects from the camera; the second is shape from silhouette, which back-projects a segmented version of the image onto a 3D block of voxels and 'carves' a 3D model over multiple frames. The main steps of each algorithm are outlined, along with appropriate results, in order to demonstrate how they could form a useful part of a practical Volume Registration system. A number of possible extensions and improvements to the system architecture are also discussed to improve the accuracy and efficiency of these techniques, and their applicability to the more complex low-altitude case is discussed.
© (2009) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Darren R. Myatt and Jeremy Rogers "Real-time dense stereo system with rectification for autonomous navigation and mapping", Proc. SPIE 7307, Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications VI, 73070C (28 April 2009); https://doi.org/10.1117/12.818474
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