ALTRUISM - INTERPRETATION OF 3-DIMENSIONAL INFORMATION FOR AUTONOMOUS VEHICLE CONTROL

被引：3

作者：

SMITH, SM

机构：

来源：

ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE | 1995年 / 8卷 / 03期

关键词：

AUTONOMOUS VEHICLES; OBSTACLE DETECTION; STRUCTURE FROM MOTION; EGOMOTION;

D O I：

10.1016/0952-1976(95)00013-Q

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In order to be able to successfully navigate autonomously, a vehicle needs to have an understanding of the local world. It must understand where it is safe to drive, and be able to recognize static and moving objects. It must also be able to relate this understanding to the desired route plan, so that progress may be made in the most sensible way. This paper describes an attempt to bridge the large gap between making sparse three-dimensional measurements of static scene structure, and achieving a useful level of understanding of that structure. In particular, it addresses the need to know where in the scene it is safe to drive. The system described in this paper is known as ALTRUlSM-Automatic Local Three-dimensional Representation Using Image-based Scene Measurements. It is complementary to the ASSET system presented recently in this journal, which defects and tracks moving obstacles from a moving vehicle.

引用

页码：271 / 280

页数：10

共 36 条

[1] Harris, Determination of ego-motion from matched points, 3rd Alvey Vision Conference, pp. 189-192, (1987)
[2] Harris, Pike, 3D positional integration from image sequences, Image Vis. Comput., 6, pp. 87-90, (1988)
[3] Harris, Stephens, A combined corner and edge detector, 4th Alvey Vis. Conf., pp. 147-151, (1988)
[4] Charnley, Blissett, Surface reconstruction from outdoor image sequences, Image Vis. Comput., 7, pp. 10-16, (1989)
[5] Smith, Feature Based Image Sequence Understanding, D.Phil. thesis, (1992)
[6] Blake, Cipolla, Robust estimation of surface curvature from deformation of apparent contours, Technical Report OUEL 1797/89, (1989)
[7] Bolles, Baker, Marimont, Epipolar-plane image analysis: an approach to determining structure from motion, Int. J. Comput. Vis., 1, pp. 7-55, (1987)
[8] Cipolla, Okamoto, Kuno, Robust structure from motion using motion parallax, Proc. 4th Int. Conf. Comput. Vis., pp. 374-382, (1993)
[9] Deriche, Faugeras, Tracking line segments, Proc. 1st Eur. Conf. Comput. Vis., pp. 259-268, (1990)
[10] Faugeras, On the motion of 3D curves and its relationship to optical flow, Proc. 1st Eur. Conf. Comput. Vis., pp. 107-117, (1990)

← 1 2 3 4 →