Extended terrain reconstruction for autonomous vehicles

Garbis Salgian; Robert Mandelbaum; Harpreet S. Sawhney; Michael W. Hansen

doi:10.1117/12.389341

23 June 2000 Extended terrain reconstruction for autonomous vehicles

Garbis Salgian, Robert Mandelbaum, Harpreet S. Sawhney, Michael W. Hansen

Proceedings Volume 4023, Enhanced and Synthetic Vision 2000; (2000) https://doi.org/10.1117/12.389341
Event: AeroSense 2000, 2000, Orlando, FL, United States

Abstract

This paper presents an image-processing algorithm for estimating both the egomotion of an outdoor robotic platform and the structure of the surrounding terrain. The algorithm is based on correlation, and is embedded in an iterative, multi-resolution framework. As such, it is suited to outdoor ground-based and underwater scenes. Both single-camera rigs and multiple-camera rigs can be accommodated. The use of multiple synchronized cameras results in more rapid convergence of the iterative approach. We describe how the algorithm operates and gives examples of its application in several robotic domains: Autonomous mobility of outdoor robots and Underwater robots.

Citation Download Citation

Garbis Salgian, Robert Mandelbaum, Harpreet S. Sawhney, and Michael W. Hansen "Extended terrain reconstruction for autonomous vehicles", Proc. SPIE 4023, Enhanced and Synthetic Vision 2000, (23 June 2000); https://doi.org/10.1117/12.389341

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