Autonomous Cross-Country Navigation Using Stereo Vision

Sanjiv Singh and Bruce Digney
tech. report CMU-RI-TR-99-03, Robotics Institute, Carnegie Mellon University, January, 1999


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Abstract
This paper reports on an autonomous robot designed for operation in uncharted outdoor environments. To accomplish this we have developed a robot vehicle equipped with wide field-of-view stereo vision and high accuracy inertial navigation. The software resident onboard the vehicle uses binoculor cameras, mounted in a novel configuration, to produce dense range maps of the environment. This data is used to guide the vehicle around obstacles and the incremental map that is developed from range data taken from the moving vehicle is used to dynamically alter the route to the final destination. Additionally, we have investigated the possibility of merging range data from scanning lasers and stereo vision in order to achieve high performance and high bandwidth.

Notes
Sponsor: Defence Research Establishment, Suffield, Canada
Grant ID: W7702-6-R577/001

Text Reference
Sanjiv Singh and Bruce Digney, "Autonomous Cross-Country Navigation Using Stereo Vision," tech. report CMU-RI-TR-99-03, Robotics Institute, Carnegie Mellon University, January, 1999

BibTeX Reference
@techreport{Singh_1999_500,
   author = "Sanjiv Singh and Bruce Digney",
   title = "Autonomous Cross-Country Navigation Using Stereo Vision",
   booktitle = "",
   institution = "Robotics Institute",
   month = "January",
   year = "1999",
   number= "CMU-RI-TR-99-03",
   address= "Pittsburgh, PA",
}