Passive sky angle mapping for unmanned ground vehicles

Robert Grabowski; Richard Weatherly; Robert Bolling; Keven Ring

doi:10.1117/12.924736

24 May 2012 Passive sky angle mapping for unmanned ground vehicles

Robert Grabowski, Richard Weatherly, Robert Bolling, Keven Ring

Proceedings Volume 8388, Unattended Ground, Sea, and Air Sensor Technologies and Applications XIV; 838808 (2012) https://doi.org/10.1117/12.924736
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

Abstract

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.

Citation Download Citation

Robert Grabowski, Richard Weatherly, Robert Bolling, and Keven Ring "Passive sky angle mapping for unmanned ground vehicles", Proc. SPIE 8388, Unattended Ground, Sea, and Air Sensor Technologies and Applications XIV, 838808 (24 May 2012); https://doi.org/10.1117/12.924736

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