This paper presents the perception module implemented in the Prolab 1 demonstrator. A standard CCD camera, closed loocked with a time-of-flight laser telemeter whose laser beam is driven by two programmable galvanometric mirrors, makes up the multisensory 3-D system. By controling the scaning, through the two mirror rotations, we can get the depth image. The sensor calibration provides agreement beetwen the camera image and the 3-D image. We detect any obstacle by using image analysis and segmentation algorithms onto the depth image. Prolab 1 computes the obstacle speeds and trajectories by using the tracking procedure. During this procedure the laser beam is servo controlled onto the obstacle. The reference input of the servomechanism is the target vehicle position issued from the video image. We show some dynamical results about the sensor performances and the algorithmic tasks performed.
A camera telemeter multisensory system for obstacle detection and tracking
Eine Kamera mit telemetrischem Multisensorensystem für Hinderniserkennung und Bahnverfolgung
1992
8 Seiten, 7 Bilder, 13 Quellen
Conference paper
English
A camera telemeter multisensory system for obstacle detection and tracking
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