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Proceedings Paper

Extended terrain reconstruction for autonomous vehicles
Author(s): Garbis Salgian; Robert Mandelbaum; Harpreet S. Sawhney; Michael W. Hansen
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Paper Abstract

This paper presents an image-processing algorithm for estimating both the egomotion of an outdoor robotic platform and the structure of the surrounding terrain. The algorithm is based on correlation, and is embedded in an iterative, multi-resolution framework. As such, it is suited to outdoor ground-based and underwater scenes. Both single-camera rigs and multiple-camera rigs can be accommodated. The use of multiple synchronized cameras results in more rapid convergence of the iterative approach. We describe how the algorithm operates and gives examples of its application in several robotic domains: Autonomous mobility of outdoor robots and Underwater robots.

Paper Details

Date Published: 23 June 2000
PDF: 10 pages
Proc. SPIE 4023, Enhanced and Synthetic Vision 2000, (23 June 2000); doi: 10.1117/12.389341
Show Author Affiliations
Garbis Salgian, Sarnoff Corp. (United States)
Robert Mandelbaum, Sarnoff Corp. (United States)
Harpreet S. Sawhney, Sarnoff Corp. (United States)
Michael W. Hansen, Sarnoff Corp. (United States)


Published in SPIE Proceedings Vol. 4023:
Enhanced and Synthetic Vision 2000
Jacques G. Verly, Editor(s)

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