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

Toshifumi Tsukiyama, Thomas S. Huang

Research output: Contribution to journalArticlepeer-review

Abstract

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.

Original languageEnglish (US)
Pages (from-to)105-113
Number of pages9
JournalPattern Recognition
Volume20
Issue number1
DOIs
StatePublished - 1987

Keywords

  • Autonomous vehicle
  • Motion stereo
  • Navigation

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition
  • Artificial Intelligence

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