Predicting Closure Rates For Autonomous Land Vehicles (ALVS) Using Morphological Filters And Log-Conformal Mapping

N. C. Griswold; B. Bergenback

doi:10.1117/12.962321

30 January 1990 Predicting Closure Rates For Autonomous Land Vehicles (ALVS) Using Morphological Filters And Log-Conformal Mapping

N. C. Griswold, B. Bergenback

Author Affiliations +

Proceedings Volume 1153, Applications of Digital Image Processing XII; (1990) https://doi.org/10.1117/12.962321
Event: 33rd Annual Technical Symposium, 1989, San Diego, United States

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.

Citation Download Citation

N. C. Griswold and B. Bergenback "Predicting Closure Rates For Autonomous Land Vehicles (ALVS) Using Morphological Filters And Log-Conformal Mapping", Proc. SPIE 1153, Applications of Digital Image Processing XII, (30 January 1990); https://doi.org/10.1117/12.962321

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available