Title :
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
fDate :
5/1/1988 12:00:00 AM
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;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
