Kurt D. Skifstad

High-Speed Range Estimation Based on Intensity Gradient Analysis (eBook, PDF)

• Format: PDF

Produktbeschreibung

A new algorithm (Intensity Gradient Analysis) provides the basis for fast and accurate range estimation. The algorithm is extremely efficient, using only a fraction of the computational effort required by existing techniques.

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Produktdetails

• Verlag: Springer US
• Seitenzahl: 182
• Erscheinungstermin: 6. Dezember 2012
• Englisch
• ISBN-13: 9781461231127
• Artikelnr.: 43992274

Inhaltsangabe

1 Introduction.- 1.1 Purpose.- 1.2 Philosophy.- 1.3 The Structure of This Thesis.- 2 Approaches to the Depth Recovery Problem.- 2.1 Sensing Modalities.- 2.2 Vision as a Primary Mode of Sensing.- 2.3 Literature Survey.- 2.4 Summary.- 3 Depth Recovery.- 3.1 Depth Recovery Using Translational Sensor Motion.- 3.2 Special Case: Axial Camera Motion.- 3.3 Special Case: Lateral Camera Motion.- 3.4 The Parameters Needed for Depth Recovery.- 4 Theoretical Basis for IGA.- 4.1 Acquiring a Sequence of Images.- 4.2 Two Ideas and Their Implications.- 5 Intensity Gradient Analysis.- 5.1 Isolating Fixed Image Displacements Using Intensity Gradients.- 5.2 Why Do More Work?.- 5.3 Extending to Two Dimensions.- 5.4 The IGA Algorithm.- 6 Implementation Issues.- 6.1 Problems with Real-World Sensors.- 6.2 Uncertainty in the Camera Motion Parameters.- 6.3 Moving Objects.- 6.4 Summary.- 7 Fixed Disparity Surfaces.- 7.1 Examples of FDS's.- 7.2 Interpreting FDS's.- 7.3 Fixed Disparity Surfaces and Conventional Stereo.- 8 Experiments.- 8.1 Experimental Setup.- 8.2 Calibration Procedures.- 8.4 Outdoor Scenes.- 8.5 Conclusions.- 9 An Application: Vision-Guided Navigation Using IGA.- 9.1 Navigation.- 9.2 Experimental Setup.- 9.3 Experiments.- 10 Conclusion.- 10.1 Future Research.- 10.2 Contribution.