Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation

One goal of the "Demo III" unmanned ground vehicle program is to enable autonomous nighttime navigation at speeds of up to 10 m.p. h. To perform obstacle detection at night with stereo vision will require night vision cameras that produce adequate image quality for the driving speeds, vehicle dynamics, obstacle sizes, and scene conditions that will be encountered. This paper analyzes the suitability of four classes of night vision cameras (3-5 pm cooled FLIR, 8-12 pm cooled FLIR, 8-12 pm uncooled FLIR, and image intens$ers) for night stereo vision, using criteria based on stereo matching quality, image signal to noise ratio, motion blul; and synchronization capability. We find that only cooled FLIRs will enable stereo vision performance that meets the goals of the Demo I l l program for nighttime autonomous mobility.