Range images for autonomous vehicles from a single passive camera

Author

Merchant, John

Author_Institution

RPU Technol., Inc., Needham, MA

fYear

2008

fDate

10-11 Nov. 2008

Firstpage

40

Lastpage

45

Abstract

A means has been developed of deriving range images from sequences of conventional images taken by a single passive camera (forward looking or side looking) on-board a vehicle as it moves continuously relative to the scene. These range images can provide the 3D situational awareness needed for autonomous operation of the vehicle. The first image in a sequence is registered in turn with each subsequent image in the sequence using a new algorithm for the registration of different views of a three-dimensional (3D) scene. A range image is derived from the registration. This range sensing method has been developed and demonstrated using a sequence of photographic images of a 3D model of an urban canyon scene, and is now being implemented in hardware.

Keywords

image registration; image sequences; mobile robots; robot vision; 3D model; autonomous vehicle; image registration; image sequence; passive camera; photographic image; range image; range sensing; situational awareness; urban canyon scene; Cameras; Humans; Image generation; Layout; Mobile robots; Optical sensors; Remotely operated vehicles; Robot vision systems; Simultaneous localization and mapping; Unmanned aerial vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Technologies for Practical Robot Applications, 2008. TePRA 2008. IEEE International Conference on

Conference_Location

Woburn, MA

Print_ISBN

978-1-4244-2791-8

Electronic_ISBN

978-1-4244-2792-5

Type

conf

DOI

10.1109/TEPRA.2008.4686670

Filename

4686670