DocumentCode
2542395
Title
Video road-following for the autonomous land vehicle
Author
Turk, Matthew A. ; Morgenthaler, David G. ; Gremban, Keith D. ; Marra, Martin
Author_Institution
Martin Marietta Denver Aerospace, Denver, CO
Volume
4
fYear
1987
fDate
31837
Firstpage
273
Lastpage
280
Abstract
We describe the vision system for Alvin, the Autonomous Land Vehicle, addressing in particular the task of road-following. The system builds symbolic descriptions of the road and obstacle boundaries using both video and range sensors. Road segmentation methods are described for video-based road-following, along with approaches to boundary extraction and the transformation of boundaries in the image plane into a vehicle-centered three dimensional scene model. The ALV has performed public road-following demonstrations, traveling distances up to 4.5 km at speeds up to 20 km/hr along a paved road, equipped with an RGB video camera with pan/tilt control and a laser range scanner.
Keywords
Cameras; Image segmentation; Land vehicles; Laser modes; Layout; Machine vision; Optical control; Roads; Sensor phenomena and characterization; Sensor systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1088030
Filename
1088030
Link To Document