Static Environment Recognition Using Omni-camera from a Moving Vehicle

Teruko Yata, Chuck Thorpe, and Frank Dellaert
tech. report CMU-RI-TR-02-12, Robotics Institute, Carnegie Mellon University, 2002


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Abstract
This research aims to develop a sensor system which will be able to recognize city area environments from a moving vehicle. A city area which is a rather cluttered out-door man-made environment requires different recognition methods from indoor or highway environments. Toward this goal, we employed an omni-directional camera and vehicle odometry. Also, for better recognition in the total sensing system, estimated geometrical information is fed-back to image processing. In this paper, as our first progress report, we explain our approach of using omni-camera on a vehicle and setup of a platform, and show an experimental result of two dimensional static environment recognition from a moving vehicle.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): NavLab
Associated Project(s): Side Collision Warning System for Transit Buses

Text Reference
Teruko Yata, Chuck Thorpe, and Frank Dellaert, "Static Environment Recognition Using Omni-camera from a Moving Vehicle," tech. report CMU-RI-TR-02-12, Robotics Institute, Carnegie Mellon University, 2002

BibTeX Reference
@techreport{Yata_2002_3960,
   author = "Teruko Yata and Chuck Thorpe and Frank Dellaert",
   title = "Static Environment Recognition Using Omni-camera from a Moving Vehicle",
   booktitle = "",
   institution = "Robotics Institute",
   year = "2002",
   number= "CMU-RI-TR-02-12",
   address= "Pittsburgh, PA",
}