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Proceedings Paper

Predicting Closure Rates For Autonomous Land Vehicles (ALVS) Using Morphological Filters And Log-Conformal Mapping
Author(s): N. C. Griswold; B. Bergenback
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Paper Abstract

In this paper, a stop sign recognition system is viewed from a morphological filtered response in the log-polar domain. This tessellation makes it feasible to predict and calculate closure rates for a visually controlled autonomous land vehicle. Development of the recognition system for octagonal shape and its subsequent mapping to the log domain are investigated. Simulation and prediction of a vehicle's closure rates as a function of angle of view and velocity are compared to actual video when a vehicle is approaching an intersection. The impact of this research on vehicle navigation and guidance is given. A polar exponential grid sensor mapped to the log domain possesses subtle and powerful properties which may be applied in mobile applications. It is concluded that mapping to the log conformal domain makes optical flow a manageable problem in dealing with vehicle motion.

Paper Details

Date Published: 30 January 1990
PDF: 16 pages
Proc. SPIE 1153, Applications of Digital Image Processing XII, (30 January 1990); doi: 10.1117/12.962321
Show Author Affiliations
N. C. Griswold, Texas A&M University (United States)
B. Bergenback, Texas A&M University (United States)

Published in SPIE Proceedings Vol. 1153:
Applications of Digital Image Processing XII
Andrew G. Tescher, Editor(s)

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