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

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5 Author(s)
Mandelbaum, R. ; Vision Technol. Lab., Sarnoff Corp., Princeton, NJ, USA ; McDowell, L. ; Bogoni, L. ; Reich, B.
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We use Sarnoff's next-generation video processor, the PVT-200, to demonstrate real-time algorithms for stereo processing, obstacle detection, and terrain estimation from stereo cameras mounted on a moving vehicle. Sarnoff's stereo processing and obstacle detection capabilities are currently 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 demonstrate ongoing collaborative research between Sarnoff and Universitat der Bundeswehr Munchen, where we are studying vision processing for autonomous off-road navigation as part of the AUTONAV program

Published in:

Applications of Computer Vision, 1998. WACV '98. Proceedings., Fourth IEEE Workshop on

Date of Conference:

19-21 Oct 1998