Non-pixel Robot Stereo

Author

Folsom, Tyler C.

Author_Institution

British Columbia Univ., Vancouver, BC

fYear

2007

fDate

1-5 April 2007

Firstpage

7

Lastpage

12

Abstract

The 2005 DARPA Grand Challenge was a 213 Km robot race across the Mojave Desert between Nevada and California. Our team attempted to run the course using only stereo vision. I designed a novel real-time large-image stereo vision system that uses sparse stereo and is biologically inspired. It uses a filter similar to that used in primary visual cortex to locate small line segments. These are then arranged to form a polyline representation of the scene and estimate the depth. The technique was capable of nine frames per second of a megapixel image on a single processor. Accuracy was questionable and the robot did not compete in the race for other reasons

Keywords

image representation; mobile robots; robot vision; stereo image processing; depth estimation; megapixel image; nonpixel robot stereo vision; real-time large-image stereo vision system; robot race; scene polyline representation; sparse stereo; visual cortex; Biology computing; Biomedical signal processing; Computational intelligence; Gabor filters; Image edge detection; Intelligent robots; Polynomials; Retina; Signal processing algorithms; Stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Image and Signal Processing, 2007. CIISP 2007. IEEE Symposium on

Conference_Location

Honolulu, HI

Print_ISBN

1-4244-0707-9

Type

conf

DOI

10.1109/CIISP.2007.369285

Filename

4221386