Share Email Print

Proceedings Paper

Hyperstereo algorithms for the perception of terrain drop-offs
Author(s): Arunkumar Mohananchettiar; Volkan Cevher; Grayson CuQlock-Knopp; Rama Chellappa; John Merritt
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

The timely detection of terrain drop-offs is critical for safe and efficient off-road mobility, whether with human drivers or with terrain navigation systems that use autonomous machine-vision. In this paper, we propose a joint tracking and detection machine-vision approach for accurate and efficient terrain drop-off detection and localization. We formulate the problem using a hyperstereo camera system and build an elevation map using the range map obtained from a stereo algorithm. A terrain drop-off is then detected with the use of optimal drop-off detection filters applied to the range map. For more robust results, a method based on multi-frame fusion of terrain drop-off evidence is proposed. Also presented is a fast, direct method that does not employ stereo disparity mapping. We compared our algorithm's detection of terrain drop-offs with time-code data from human observers viewing the same video clips in stereoscopic 3D. The algorithm detected terrain drop-offs an average of 9 seconds sooner, or 12m farther, than the human observers. This suggests that passive image-based hyperstereo machine-vision may be useful as an early warning system for off-road mobility.

Paper Details

Date Published: 1 May 2007
PDF: 10 pages
Proc. SPIE 6557, Head- and Helmet-Mounted Displays XII: Design and Applications, 65570L (1 May 2007); doi: 10.1117/12.721066
Show Author Affiliations
Arunkumar Mohananchettiar, Univ. of Maryland, College Park (United States)
Volkan Cevher, Univ. of Maryland, College Park (United States)
Grayson CuQlock-Knopp, Army Research Lab. (United States)
Rama Chellappa, Univ. of Maryland, College Park (United States)
John Merritt, The Merritt Group (United States)

Published in SPIE Proceedings Vol. 6557:
Head- and Helmet-Mounted Displays XII: Design and Applications
Randall W. Brown; Colin E. Reese; Peter L. Marasco; Thomas H. Harding, Editor(s)

© SPIE. Terms of Use
Back to Top