Authors: Mark W. Maimone, Larry Matthies, Steven B. Goldberg
Stereo operations:
- Downsampling from 1024x1024 to 256x256
- Integer operation for epipolar search
- Compute the laplacian for pixel intensity bias with difference of gaussian - in fact the corelation is performed on the laplacian image
- Corelator that assign a score to each pixel in a 7x7 window then range is estimated with the disparity of the maximum scored pixel
- peak filtering & co to check the validity of the range
- (X,Y,Z) mapping for each valid pixel with camera model
- comparison of code performance on individuals operation => vectorization of oparations with assembly
GESTALT navigation system:
- Input: state of the world allready seen, discrete set of (X,Y,Z) points and waypoint goal
- Cells size of a rover wheel
- For each cells compute mean, cov and number of points and fit a plane
- Then compute hazard measures: step (elevation between pairs of pts), roughness (residual of the planar fit), pitch (slope), border
- Arc hazard vote + waypoint arc vote
Bonne compréhension des systèmes, mais un peu limite sur le hardware et la vectorization en assembleur (???)