| Autor: |
Grabowski, Robert, Weatherly, Richard, Bolling, Robert, Ring, Keven |
| Zdroj: |
Proceedings of SPIE; May 2012, Vol. 8388 Issue: 1 p838808-838808-9 |
| Abstrakt: |
We utilize a hemispherical camera to develop a passive mapping algorithm that exploits visibility to the sky. We use this visibility to derive a measure of occupancy to build a wide area volumetric map. This process produces a 3D representation of the environment derived solely from video. The resolution of this map is further refined by active motion of the vehicle. Because this method visually exploits the energy of the sky, its effective range is potentially much higher than an active energy sensor. That is, all the space between the sensor and the far horizon can be effectively cleared. Moreover, since this approach is completely passive (it does not emit energy) it is ideal for missions that require stealth. We present initial results from testing this concept on an autonomous vehicle circumnavigating a series of outdoor buildings. |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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