Towards real-time binocular stereo range and motion detection

Ali E. Kayaalp

doi:10.1117/12.21243

1 September 1990 Towards real-time binocular stereo range and motion detection

Ali E. Kayaalp

Proceedings Volume 1295, Real-Time Image Processing II; (1990) https://doi.org/10.1117/12.21243
Event: 1990 Technical Symposium on Optics, Electro-Optics, and Sensors, 1990, Orlando, FL, United States

Abstract

To carry out complex tasks, such as reconnaissance missions in relatively unknown terrain, autonomous systems will need to constantly sense and perceive various aspects of their local environment. Range and motion detection capabilities will be required by an autonomous agent to create an internal representation of the environment that will be used in mission planning. Conventionally, shape-from-binocular stereo has been a popular, yet compute intensive and hence slow, technique for detecting range using passive sensors. In this paper, we present a pipeline architecture that performs correlation-based stereo matching and motion detection in near real-time. The system has been implemented using DATACUBE image processing boards and can match 256 x 256 pixel stereo image pairs in one second using a search range of 64 pixels. It has been tested on various indoor and outdoor images with generally successful results and is being used for obstacle detection in our work on autonomous navigation. The system demonstrates the feasibility of real-time stereo matching in the near future using miniaturized hardware that fits inside a vehicle. After discussing our approach, we present results using real images. We present the application of this work to autonomous navigation research.

Citation Download Citation

Ali E. Kayaalp "Towards real-time binocular stereo range and motion detection", Proc. SPIE 1295, Real-Time Image Processing II, (1 September 1990); https://doi.org/10.1117/12.21243

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available