Stereo perception on an off-road vehicle

Author

Rieder, A. ; Southall, B. ; Salgian, G. ; Mandelbaum, R. ; Herman, H. ; Rander, P. ; Stentz, T.

Author_Institution

Sarnoff Corp., Princeton, NJ, USA

Volume

1

fYear

2002

fDate

17-21 June 2002

Firstpage

221

Abstract

This paper presents a vehicle for autonomous off-road navigation built in the framework of DARPA´s PerceptOR program. Special emphasis is given to the perception system. A set of three stereo camera pairs provide color and 3D data in a wide field of view (greater 100 degree) at high resolution (2160 by 480 pixel) and high frame rates (5 Hz). This is made possible by integrating a powerful image processing hardware called Acadia. These high data rates require efficient sensor fusion, terrain reconstruction and path planning algorithms. The paper quantifies sensor performance and shows examples of successful obstacle avoidance.

Keywords

image reconstruction; mobile robots; path planning; robot vision; sensor fusion; stereo image processing; vehicles; 1036800 pixel; 2160 pixel; 3D data; 480 pixel; 5 Hz; Acadia; DARPA; PerceptOR program; autonomous off-road navigation; color; off-road vehicle; path planning algorithms; perception system; sensor fusion; stereo camera pairs; stereo perception; terrain reconstruction; Cameras; Hardware; Image processing; Image reconstruction; Laser radar; Mobile robots; Navigation; Pixel; Remotely operated vehicles; Vehicle detection;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicle Symposium, 2002. IEEE

Print_ISBN

0-7803-7346-4

Type

conf

DOI

10.1109/IVS.2002.1187955

Filename

1187955