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Range images for autonomous vehicles from a single passive camera

A means has been developed of deriving range images from sequences of conventional images taken by a single passive camera (forward looking or side looking) on-board a vehicle as it moves continuously relative to the scene. These range images can provide the 3D situational awareness needed for autonomous operation of the vehicle. The first image in a sequence is registered in turn with each subsequent image in the sequence using a new algorithm for the registration of different views of a three-dimensional (3D) scene. A range image is derived from the registration. This range sensing method has been developed and demonstrated using a sequence of photographic images of a 3D model of an urban canyon scene, and is now being implemented in hardware.