High Speed Range Estimation Based On Intensity Gradient Analysis
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High-Speed Range Estimation Based on Intensity Gradient Analysis
Author: Kurt D. Skifstad
language: en
Publisher: Springer Science & Business Media
Release Date: 2012-12-06
A fast and reasonably accurate perception of the environment is essential for successful navigation of an autonomous agent. Although many modes of sensing are applicable to this task and have been used, vision remains the most appealing due to its passive nature, good range, and resolution. Most vision techniques to recover depth for navigation use stereo. In the last few years, researchers have started studying techniques to combine stereo with the motion of the camera. Skifstad's dissertation proposes a new approach to recover depth information using known camera motion. This approach results in a robust technique for fast estimation of distances to objects in an image using only one translating camera. A very interesting aspect of the approach pursued by Skifstad is the method used to bypass the most difficult and computationally expensive step in using stereo or similar approaches for the vision-based depth esti mation. The correspondence problem has been the focus of research in most stereo approaches. Skifstad trades the correspondence problem for the known translational motion by using the fact that it is easier to detect single pixel disparities in a sequence of images rather than arbitrary disparities after two frames. A very attractive feature of this approach is that the computations required to detect single pixel disparities are local and hence can be easily parallelized. Another useful feature of the approach, particularly in naviga tion applications, is that the closer objects are detected earlier.
Vision-based Vehicle Guidance
Author: Ichiro Masaki
language: en
Publisher: Springer Science & Business Media
Release Date: 2012-12-06
There is a growing social interest in developing vision-based vehicle guidance systems for improving traffic safety and efficiency and the environment. Ex amples of vision-based vehicle guidance systems include collision warning systems, steering control systems for tracking painted lane marks, and speed control systems for preventing rear-end collisions. Like other guidance systems for aircraft and trains, these systems are ex pected to increase traffic safety significantly. For example, safety improve ments of aircraft landing processes after the introduction of automatic guidance systems have been reported to be 100 times better than prior to installment. Although the safety of human lives is beyond price, the cost for automatic guidance could be compensated by decreased insurance costs. It is becoming more important to increase traffic safety by decreasing the human driver's load in our society, especially with an increasing population of senior people who continue to drive. The second potential social benefit is the improvement of traffic efficiency by decreasing the spacing between vehicles without sacrificing safety. It is reported, for example, that four times the efficiency is expected if the spacing between cars is controlled automatically at 90 cm with a speed of 100 kmjh compared to today's typical manual driving. Although there are a lot of tech nical, psychological, and social issues to be solved before realizing the high density jhigh-speed traffic systems described here, highly efficient highways are becoming more important because of increasing traffic congestion.
Multiresolution Image Shape Description
Author: John M. Gauch
language: en
Publisher: Springer Science & Business Media
Release Date: 2012-12-06
Much of our understanding of the relationships among geometric struc tures in images is based on the shape of these structures and their relative orientations, positions and sizes. Thus, developing quantitative methods for capturing shape information from digital images is an important area for computer vision research. This book describes the theory, implemen tation, and application of two multi resolution image shape description methods. The author begins by motivating the need for quantitative methods for describing both the spatial and intensity variations of struc tures in grey-scale images. Two new methods which capture this informa tion are then developed. The first, the intensity axis of symmetry, is a collection of branching and bending surfaces which correspond to the skeleton of the image. The second method, multiresolution vertex curves, focuses on surface curvature properties as the image is blurred by a sequence of Gaussian filters. Implementation techniques for these image shape descriptions are described in detail. Surface functionals are mini mized subject to symmetry constraints to obtain the intensity axis of symmetry. Robust numerical methods are developed for calculating and following vertex curves through scale space. Finally, the author demon strates how grey-scale images can be segmented into geometrically coher ent regions using these shape description techniques. Building quantita tive analysis applications in terms of these visually sensible image regions promises to be an exciting area of biomedical computer vision research. v Acknowledgments This book is a corrected and revised version of the author's Ph. D.