VITS-a vision system for autonomous land vehicle navigation

Author

Turk, Matthew A. ; Morgenthaler, David G. ; Gremban, Keith D. ; Marra, Martin

Author_Institution

Martin Marietta Denver Aerosp., CO, USA

Volume

10

Issue

3

fYear

1988

fDate

5/1/1988 12:00:00 AM

Firstpage

342

Lastpage

361

Abstract

A description is given of VITS (for vision task sequencer), the vision system for the autonomous land vehicle (ALV) Alvin, addressing in particular the task of road-following. The ALV vision system builds symbolic descriptions of road and obstacle boundaries using both video and range sensors. The authors discuss various road segmentation methods for video-based road-following, along with approaches to boundary extraction and transformation of boundaries in the image plane into a vehicle-centered three-dimensional scene model

Keywords

computer vision; computerised navigation; computerised pattern recognition; vehicles; 3D scene model; VITS; autonomous land vehicle; boundary extraction; computer vision; computerised navigation; computerised pattern recognition; range sensors; road-following; robot vision; symbolic descriptions; video; vision task sequencer; Cameras; Land vehicles; Machine vision; Mobile robots; Navigation; Optical control; Remotely operated vehicles; Roads; Sensor phenomena and characterization; Sensor systems;

fLanguage

English

Journal_Title

Pattern Analysis and Machine Intelligence, IEEE Transactions on

Publisher

ieee

ISSN

0162-8828

Type

jour

DOI

10.1109/34.3899

Filename

3899