Michael W. Hansen

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We describe a real-time system designed to construct a stable view of a scene through aligning images of an incoming video stream and dynamically constructing an image mosaic. This system uses a video processing unit developed b y the David Samofl Research Center called the Vision Front End (VFE-100) for the pyramid-based image processing tasks requimd to(More)
Two important problems in camera control are how to keep a moving camera xated on a target point, and how to precisely aim a camera, whose approximate pose is known, towards a given 3D position. This paper describes how electronic image alignment techniques can be used to solve these problems, as well as provide other beneets such as stabilized video.(More)
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,(More)
We introduce an image enhancement method referred to as the watershed-based maximum-homogeneity filter. This method first uses watershed analysis to subdivide the image into homogeneous pixel clusters called catchment basins. Next, using an adaptive, local, catchment-basin selection scheme, similar neighboring catchment basins are combined together to(More)