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Proceedings Paper

Real-time stereo and motion integration for navigation
Author(s): H. Harlyn Baker; Robert C. Bolles; John Iselin Woodfill
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Paper Abstract

Our purpose in this paper is to describe new techniques for high-resolution range sensing and dynamic vehicle localization. An emphasis of the work is rapid processing, with data redundancy, rather than complex analysis, being used to ensure high quality range estimates. Two aspects of the work are presented here. The first is the use of spatiotemporal consistency filtering to verify range estimates, and the second is the development of a fast registration method that dynamically solves for position and orientation of the platform from stereo range and motion tracking estimates. These methods will enable us to integrate range information over time into a consistent local 3D map.

Paper Details

Date Published: 17 August 1994
PDF: 8 pages
Proc. SPIE 2357, ISPRS Commission III Symposium: Spatial Information from Digital Photogrammetry and Computer Vision, (17 August 1994); doi: 10.1117/12.182849
Show Author Affiliations
H. Harlyn Baker, SRI International (United States)
Robert C. Bolles, SRI International (United States)
John Iselin Woodfill, Interval Research Corp. (United States)


Published in SPIE Proceedings Vol. 2357:
ISPRS Commission III Symposium: Spatial Information from Digital Photogrammetry and Computer Vision
Heinrich Ebner; Christian Heipke; Konrad Eder, Editor(s)

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