Center for Human Modeling and Simulation

Document Type

Conference Paper

Date of this Version

October 1998


Copyright 1998 IEEE. Reprinted from Proceedings of the 4th IEEE Workshop on the Applications of Computer Vision, October 1998, pages 288-289.

This material is posted her with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to By choosing to view this document, you agree to all provisions of the copyright laws protecting it.


We use Sarnoff's next-generation video processor, the PVT-200, to demonstrate real-time algorithms for stereo processing, obstacle detection, and terrain estimation from stereo cameras mounted on a moving vehicle. Sarnoff's stereo processing and obstacle detection capabilities are currently being used in several Unmanned Ground Vehicle (UGV) programs, including MDARS-E and DEMO III. Sarnoff's terrain estimation capabilities are founded on a "model-based directed stereo" approach. We demonstrate ongoing collaborative research between Sarnoff and Universitat der Bundeswehr Miinchen, where we are studying vision processing for autonomous off-road navigation as part of the AUTONAVprogram.



Date Posted: 12 July 2007

This document has been peer reviewed.