Motion stereo for navigation of autonomous vehicles in man-made environments

In order to navigate, vehicles need to deduce their movements in given environments. We describe a method for wide-angle motion stereo to aid such navigations. Our approach uses vertices of objects observed in a scene as features to be matched in the two images. The matching is done in the 3-d world with the guidance of a base line which can be seen in both images. The candidate vertices for matching are obtained from analyzing (1) the edge maps of input images using a junction type table and (2) the range information of the segments which form the vertices. Range information is obtained by inverse perspective transformation. Some experimental results are shown.