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Carnegie Mellon Robotics Institute

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Abstract

We report progress in visual road following by autonomous robot vehicles. We present results and work in progress in the areas of system architecture, image rectification and camera calibration, oriented edge tracking, color classification and road-region segmentation, extracting geometric structure, and the use of a map. In test runs of an outdoor robot vehicle, the Terregator, under control of the Warp computer, we have demonstrated continuous motion vision-guided road-following at speeds up to 1.08 km/hour with image processing and steering servo loop times of 3 sec.

Notes

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

Associated Lab(s) / Group(s): Mobile Robot Lab

Associated Project(s): Terregator

Text Reference

R. Wallace, K. Matsuzaki, J. Crisman, Y. Goto, J. Webb, and Takeo Kanade, "Progress in Robot Road-Following," Proc. of 1986 IEEE International Conference on Robotics and Automation, 1986, pp. 1615-1621.

BibTeX Reference

@inproceedings{Kanade_1986_2427,
   author = "R. Wallace and K. Matsuzaki and J. Crisman and Y. Goto and J. Webb and Takeo Kanade",
   title = "Progress in Robot Road-Following",
   booktitle = "Proc. of 1986 IEEE International Conference on Robotics and Automation",
   pages = "1615-1621",
   year = "1986",
   volume = "3",
}

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