/Vision and navigation for the Carnegie-Mellon Navlab

Vision and navigation for the Carnegie-Mellon Navlab

Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer
Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 10, No. 3, pp. 362 - 373, May, 1988

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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.

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

BibTeX Reference
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},
year = {1988},
month = {May},
volume = {10},
number = {3},
pages = {362 - 373},