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Proceedings Paper

Passive sky angle mapping for unmanned ground vehicles
Author(s): Robert Grabowski; Richard Weatherly; Robert Bolling; Keven Ring
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Paper Abstract

We utilize a hemispherical camera to develop a passive mapping algorithm that exploits visibility to the sky. We use this visibility to derive a measure of occupancy to build a wide area volumetric map. This process produces a 3D representation of the environment derived solely from video. The resolution of this map is further refined by active motion of the vehicle. Because this method visually exploits the energy of the sky, its effective range is potentially much higher than an active energy sensor. That is, all the space between the sensor and the far horizon can be effectively cleared. Moreover, since this approach is completely passive (it does not emit energy) it is ideal for missions that require stealth. We present initial results from testing this concept on an autonomous vehicle circumnavigating a series of outdoor buildings.

Paper Details

Date Published: 24 May 2012
PDF: 9 pages
Proc. SPIE 8388, Unattended Ground, Sea, and Air Sensor Technologies and Applications XIV, 838808 (24 May 2012); doi: 10.1117/12.924736
Show Author Affiliations
Robert Grabowski, The MITRE Corp. (United States)
Richard Weatherly, The MITRE Corp. (United States)
Robert Bolling, The MITRE Corp. (United States)
Keven Ring, The MITRE Corp. (United States)

Published in SPIE Proceedings Vol. 8388:
Unattended Ground, Sea, and Air Sensor Technologies and Applications XIV
Edward M. Carapezza, Editor(s)

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