|
|
|
|
RI | Publications | Autonomous Cross-Country Navigation Using Stereo Vision
|
|
Text only version of this site
Autonomous Cross-Country Navigation Using Stereo Vision
S. Singh and B. Digney
tech. report CMU-RI-TR-99-03, Robotics Institute, Carnegie Mellon University, January, 1999.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [2959 KB] Compressed postscript (ps.gz) [6219 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| 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 |
S. Singh and B. 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",
institution = "Robotics Institute, Carnegie Mellon University",
month = "January",
year = "1999",
number = "CMU-RI-TR-99-03",
address = "Pittsburgh, PA"
}