Driveable region segmentation using a Pearl Bayes network

Describes a parallel implementation of a texture segmentation algorithm. The algorithm uses a Pearl Bayes network (PBN) to combine evidence for the location of driveable regions in autonomous land vehicle imagery. A multilevel PBN approach is introduced and followed by an example which is used to illustrate the derivation of the propagation and fusion equations. A parallel implementation is then described with results demonstrating its effectiveness