Predictive Feed Forward Stereo Processing
Stephen B Pollard, John Porrill, J. E. W. Mayhew · 1989
This paper describes the preliminary stages in the development of a predictive feed-forward (PFF) stereo based tracking module. 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 utilise the spatio-temporal coherence by exploiting previously obtained depth values and approximate trajectory information in order to accelerate the process that actually achieves the stereo correspondences. Much research in computer vision has been developed in snapshot mode, concentrating attention on a single image or a small number of frames obtained either in synchrony or from a