Abstract: In a method of obstacle detection and terrain classification for off-road vehicles, a range image of the terrain within a scene is generated by scanning the scene using, for example, a range-imaging sensor. The sensor data are then transformed into a three-dimensional surface which is composed of individual finite elements and which models the scene that has been scanned by the sensor; and the three-dimensional surface is provided to yield a Terrain Elevation Function which is defined in a terrestrial coordinate system. (The Terrain Elevation Function is extended continuously where it is undefined.) A Confidence Function is generated for the Terrain Elevation Function defined in the same coordinate system as the Terrain Elevation Function, the Confidence Function representing a measure of confidence in the Terrain Elevation Function and depending on the distance of a value of the Terrain Elevation Function from a sensor measurement point.

Abstract: In an obstacle device, a front end range imaging sensor is used to scan the viewing field relative to the aircraft, while a navigation system provides information concerning the postion and altitude of the aircraft. A data processor uses these data to generate 3-d scene vectors, such that every range image is converted into a measurement point set, from which the presence of cables or wires is detected using a wire detection procedure based on the Hough Transform. For this purpose, an HT acceleration board is provided, which needs not perform complex floating point operations. The processed results are then input to an evaluation module, which determines whether any detected wires are proximate to the position of the aircraft.

Abstract: In an obstacle device, a front end range imaging sensor is used to scan the viewing field relative to the aircraft, while a navigation system provides information concerning the postion and altitude of the aircraft. A data processor uses these data to generate 3-d scene vectors, such that every range image is converted into a measurement point set, from which the presence of cables or wires is detected using a wire detection procedure based on the Hough Transform. For this purpose, an HT acceleration board is provided, which needs not perform complex floating point operations. The processed results are then input to an evaluation module, which determines whether any detected wires are proximate to the position of the aircraft.

Abstract: Obstacle warning system for low-flying airborne craft in which case the edge contours of the obstacles are visualized for the pilot in a display.

Abstract: A range imaging sensor for classifying and determining the position and orientation of remote objects combines a high resolution three-dimensional range imaging camera with a conventionally configured data processor. Three-dimensional object geometry sensed by the camera is compared with a plurality of three-dimensional models stored in a memory of the data processor. The spacial relationship between iteratively selected models and the sensed object is evaluated for varying positions and orientations of the model, and an optimum object classification and object position/orientation are detected and transmitted as an output signal.