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Proceedings Paper

Incorporating color and spatiotemporal stereovision techniques for road following
Author(s): Eric Sung; Toe Myint
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Paper 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.

Paper Details

Date Published: 1 November 1992
PDF: 10 pages
Proc. SPIE 1825, Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision, (1 November 1992); doi: 10.1117/12.131544
Show Author Affiliations
Eric Sung, Nanyang Technological Univ. (Singapore)
Toe Myint, Nanyang Technological Univ. (Singapore)


Published in SPIE Proceedings Vol. 1825:
Intelligent Robots and Computer Vision XI: Algorithms, Techniques, and Active Vision
David P. Casasent, Editor(s)

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