NDLI: Outdoor vehicle navigation using passive 3D vision

Content Provider	IEEE Xplore Digital Library
Author	Stephens, M.J. Blissett, R.J. Charnley, D. Sparks, E.P. Pike, J.M.
Copyright Year	1989
Description	Author affiliation: Plessey Res. & Technol., Romsey, UK (Stephens, M.J.; Blissett, R.J.; Charnley, D.; Sparks, E.P.; Pike, J.M.)
Abstract	A prototype 3D vision system which uses the structure-from-motion principle is described. The system is based on the extraction and matching of image tokens such as edges and corners. The 3D locations of the causative features in the viewed scene are deduced by triangulation and are updated with each observation by application of Kalman filters. The operation of the vision system is illustrated with results obtained from sequences of natural outdoor imagery. The output of the vision-system kernel is a rich 3D representation of feature points and edges in the scene. A method is described by which surfaces can be simply constructed from this information. Results indicate that the inferred surfaces can be readily segmented into navigable and nonnavigable regions. This segmentation can be used by a path planner to select a safe and economical route for subsequent vehicle travel. A hardware realization of the vision system is discussed.<>
Starting Page	556
Ending Page	562
File Size	940314
Page Count	7
File Format	PDF
ISBN	081861952X
ISSN	10636919
DOI	10.1109/CVPR.1989.37901
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1989-06-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Machine vision Road vehicles Remotely operated vehicles Layout Mobile robots Vehicle driving Sparks Prototypes Image segmentation
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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