Topographic mapping for stereo and motion processing

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Abstract
Topographic mappings are neigbourhood preserving transformations between twodimensional data structures. Mappings of this type are a general means of information processing in the vertebrate visual system. In this paper we present an application of a special topographic mapping termed the inverse perspective mapping for the computation of stereo and motion. More specifically we study a class of algorithms for the detection of deviations from an expected " normal" situation. These expectations concern the global spacevariance of certain image parameters (e. g. disparity or speed of feature motion) and can thus be implemented in the mapping rule. The resulting algorithms are minimal in the sense that no irrelevant information is extracted from the scene. In a technical application we use topographic mappings for a stereo obstacle detection system. The implementation has been tested on an automatically guided vehicle (AGV) in an industrial environment. 1

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