| 摘要 |
A navigation system for an unmanned ground vehicle (UGV) includes an MPEG encoder that pre-processes frame data from a plurality of cameras on the UGV before the data is used to generate maps that identify objects in the vehicle's field of view and that identify terrain characteristics. The MPEG encoder converts the red-green-blue (RGB) data into luminance-chrominance (YUV) data. The luminance and chrominance data for each frame are divided into blocks for determining motion vectors, average chrominance values, and spatial frequencies for each block. A range map identifying objects is generated from the motion vectors and average chrominance values, and a slope map identifying terrain characteristics is generated from the spatial frequencies. |
