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Proceedings Paper

Topographic mapping for stereo and motion processing
Author(s): Hanspeter A. Mallot; Thomas Zielke; Kai Storjohann; Werner von Seelen
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Paper Abstract

Topographic mappings are neigbourhood preserving transformations between twodimensional data structures. Mappings of this type are a general means of information processing in the vertebrate visual system. In this paper we present an application of a special topographic mapping termed the inverse perspective mapping for the computation of stereo and motion. More specifically we study a class of algorithms for the detection of deviations from an expected " normal" situation. These expectations concern the global spacevariance of certain image parameters (e. g. disparity or speed of feature motion) and can thus be implemented in the mapping rule. The resulting algorithms are minimal in the sense that no irrelevant information is extracted from the scene. In a technical application we use topographic mappings for a stereo obstacle detection system. The implementation has been tested on an automatically guided vehicle (AGV) in an industrial environment. 1

Paper Details

Date Published: 1 February 1991
PDF: 12 pages
Proc. SPIE 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods, (1 February 1991); doi: 10.1117/12.25233
Show Author Affiliations
Hanspeter A. Mallot, Ruhr Univ. (Germany)
Thomas Zielke, Ruhr Univ. (Germany)
Kai Storjohann, Ruhr Univ. (Germany)
Werner von Seelen, Ruhr Univ. (Germany)

Published in SPIE Proceedings Vol. 1382:
Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods
David P. Casasent, Editor(s)

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