Real-time stereo processing, obstacle detection, and terrain estimation from vehicle-mounted stereo cameras

Authors:
R. Mandelbaum;L. McDowell;L. Bogoni;B. Reich;M. Hansen
Affiliations:
-;-;-;-;-
Venue:
WACV '98 Proceedings of the 4th IEEE Workshop on Applications of Computer Vision (WACV'98)
Year:
1998

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Abstract

We use Sarnoff's next-generation video processor, thePVT-200, to demonstrate real-time algorithms for stereoprocessing, obstacle detection, and terrain estimation fromstereo cameras mounted on a moving vehicle. Sarnoff'sstereo processing and obstacle detection capabilities arecurrently being used in several Unmanned Ground Vehicle(UGV) programs, including MDARS-E and DEMO III.Sarnoff's terrain estimation capabilities are founded on a"model-based directed stereo" approach. We demonstrateongoing collaborative research between Sarnoff and Universität der Bundeswehr München, where we are studyingvision processing for autonomous off-road navigation aspart of the AUTONAV program.