Abstract

This paper describes some components of a working system which drives a vehicle through cluttered real world environments under computer control, guided by images perceived through an onboard television camera. The emphasis is on reliable and fast low level visual techniques which determine the existence and location of objects in the world, but do not identify them. They include an interest operator for choosing distinctive regions in images, a correlator for finding matching regions in similar images, a geometric camera solver which determines camera displacement and distance to objects from motion stereo information and an automatic distortion corrector which compensates for camera imperfections.