Digital processing of stereoscopic image pairs.The problem under consideration is concerned with scene analysis during robot navigation on the surface of Mars. In this mode, the world model of the robot must be continuously updated to include sightings of new obstacles and scientific samples. In order to describe the content of a particular scene, it is first necessary to segment it into known objects. One technique for accomplishing this segmentation is by analyzing the pair of images produced by the stereoscopic cameras mounted on the robot. A heuristic method is presented for determining the range for each point in the two-dimensional scene under consideration. The method is conceptually based on a comparison of corresponding points in the left and right images of the stereo pair. However, various heuristics which are adaptive in nature are used to make the algorithm both efficient and accurate. Examples are given of the use of this so-called range picture for the purpose of scene segmentation.
Document ID
19730053732
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Levine, M. D. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena, Calif.; McGill University Montreal, Canada)
Date Acquired
August 7, 2013
Publication Date
January 1, 1973
Subject Category
Instrumentation And Photography
Meeting Information
Meeting: International Symposium on Circuit Theory