The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

A distributed architecture articulated around the CODGER (communication database with geometric reasoning) knowledge database is described for a mobile robot system that includes both perception and navigation tools. Results are described for vision and navigation tests using a mobile testbed that integrates perception and navigation capabilities that are based on two types of vision algorithms: color vision for road following, and 3-D vision for obstacle detection and avoidance. The perception modules are integrated into a system that allows the vehicle to drive continuously in an actual outdoor environment. The resulting system is able to navigate continuously on roads while avoiding obstacles.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): NavLab

Note: Other versions appeared in "High Precision Navigation" (Springer-Verlag, 1989) and in "Annual Reviews of Computer Science", Volume 2, 1987.

Text Reference

Chuck Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer, "Vision and navigation for the Carnegie-Mellon Navlab," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 10, No. 3, May, 1988, pp. 362 - 373.

BibTeX Reference

@article{Thorpe_1988_1624,
   author = "Chuck Thorpe and Martial Hebert and Takeo Kanade and Steven Shafer",
   title = "Vision and navigation for the Carnegie-Mellon Navlab",
   journal = "IEEE Transactions on Pattern Analysis and Machine Intelligence",
   pages = "362 - 373",
   month = "May",
   year = "1988",
   volume = "10",
   number = "3",
   Notes = "Other versions appeared in "High Precision Navigation" (Springer-Verlag, 1989) and in "Annual Reviews of Computer Science", Volume 2, 1987."
}

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