Title :
Dynamic stereo in visual navigation
Author :
Tistarelli, M. ; Grosso, E. ; Sandini, G.
Author_Institution :
Dept. of Commun., Comput. & Syst. Sci., Genoa Univ., Italy
Abstract :
A cooperative schema is proposed in which binocular disparity, computed on several stereo images over time, is combined with optical flow from the same sequence to obtain a relative-depth map of the scene. Both time-to-impact and depth scaled by the distance of the camera from the fixation point in space are considered as good, relative measurements which are based on the viewer (but centered on the environment). Two experiments, performed on image sequences from real scenes, are presented
Keywords :
computer vision; computerised picture processing; binocular disparity; cooperative schema; dynamic stereo; fixation point; image sequences; optical flow; relative-depth map; stereo images; visual navigation; Calibration; Cameras; Layout; Motion analysis; Navigation; Orbital robotics; Robot kinematics; Robustness; Stereo vision; Vehicle safety;
Conference_Titel :
Computer Vision and Pattern Recognition, 1991. Proceedings CVPR '91., IEEE Computer Society Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-8186-2148-6
DOI :
10.1109/CVPR.1991.139685
