Magazine Article

Predicting Long-Range Traversability From Short-Range Stereo-Derived Geometry

TBMG-8685

11/01/2010

Abstract
Content

Based only on its appearance in imagery, this program uses close-range 3D terrain analysis to produce training data sufficient to estimate the traversability of terrain beyond 3D sensing range. This approach is called learning from stereo (LFS). In effect, the software transfers knowledge from middle distances, where 3D geometry provides training cues, into the far field where only appearance is available. This is a viable approach because the same obstacle classes, and sometimes the same obstacles, are typically present in the mid-field and the far-field. Learning thus extends the effective look-ahead distance of the sensors.

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Citation
"Predicting Long-Range Traversability From Short-Range Stereo-Derived Geometry," Mobility Engineering, November 1, 2010.
Additional Details
Publisher
Published
Nov 1, 2010
Product Code
TBMG-8685
Content Type
Magazine Article
Language
English