Experiments in vehicle control using predictive feed-forward stereo

摘要

The preliminary stages in the development of a predictive feed-forward (PFF) stereo-based tracking module are described. The object of the module is to exploit the spatio-temporal coherence that exists in a sequence of stereo images in the context of providing a visual control mechanism for a mobile vehicle with uncertainty in position. PFF provides a method by which the representation of a 3D scene can be maintained and evolved over time. Furthermore, quickening strategies can utilize the spatio-temporal coherence by exploiting previously obtained depth values and approximate trajectory information to accelerate the process that actually achieves the stereo correspondences.