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Proceedings Paper

Integrated radar-photometry sensor based on constrained optical flow
Author(s): Youenn Fablet; Gady Agam; Paul Cohen
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Paper Abstract

Robotic teleoperation is a major research area with numerous applications. Efficient teleoperation, however, greatly depends on the provided sensory information. In this paper, an integrated radar- photometry sensor is presented. The developed sensor relies on the strengths of the two main modalties: robust radar-based range data, and high resolution dynamic photometric imaging. While radar data has low resolution and depth from motion in photometric images is susceptible to poor visibility conditions, the integrated sensor compensates for the flaws of the individual components. The integration of the two modalities is achieved by us ing the radar based range data in order to constrain the optical flow estimation, and fusing the resulting depth maps. The optical flow computation is constrained by a model flow field based upon the radar data, by using a rigidity constraint, and by incorporating edge information into the optical flow estimation. The data fusion is based upon a confidence estimation of the image based depth computation. Results with simulated data demonstrate the good potential of the approach.

Paper Details

Date Published: 23 June 2000
PDF: 12 pages
Proc. SPIE 4023, Enhanced and Synthetic Vision 2000, (23 June 2000); doi: 10.1117/12.389348
Show Author Affiliations
Youenn Fablet, Ecole Polytechnique de Montreal (Canada)
Gady Agam, Ecole Polytechnique de Montreal (United States)
Paul Cohen, Ecole Polytechnique de Montreal (Canada)

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

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