Abstract
In this paper, we discuss autonomous navigation based on gated images. We focus on the most fundamental issues, i.e. detection, localization and identification of objects/obstacles that are close to the system. No model of the observed scenes is assumed and the method is suitable for exploring unknown environments. Gated images are captured by a camera opening and closing synchronized with laser pulses of 10-12nsec. By changing the gating time, it is possible to capture images that contain only objects within a predefined distance from the camera. The rest of the scene would remain invisible. Our experiments have shown that by using gated images significant results can be achieved with very simple algorithms. For other vision-based methods such results are very difficult to produce. The paper briefly explains principles of the proposed method and provides the corresponding exemplary results.
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Śluzek, A., Seong, T.C. (2006). GATED IMAGES: NEW PERSPECTIVES FOR VISION-BASED NAVIGATION. In: Wojciechowski, K., Smolka, B., Palus, H., Kozera, R., Skarbek, W., Noakes, L. (eds) Computer Vision and Graphics. Computational Imaging and Vision, vol 32. Springer, Dordrecht. https://doi.org/10.1007/1-4020-4179-9_72
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DOI: https://doi.org/10.1007/1-4020-4179-9_72
Publisher Name: Springer, Dordrecht
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