Title :
Vision and navigation for the Carnegie-Mellon Navlab
Author :
Thorpe, Charles ; Hebert, Martial H. ; Kanade, Takeo ; Shafer, Steven A.
Author_Institution :
Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA
fDate :
5/1/1988 12:00:00 AM
Abstract :
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
Keywords :
artificial intelligence; computer architecture; computer vision; computerised navigation; computerised pattern recognition; robots; vehicles; 3-D vision; CODGER; Carnegie-Mellon; Navlab; color vision; communication database with geometric reasoning; computer vision; computerised navigation; distributed architecture; knowledge database; mobile robot system; obstacle detection; perception modules; road following; Cameras; Computer architecture; Hardware; Laboratories; Machine vision; Mobile robots; Navigation; Roads; Robot sensing systems; Testing;
Journal_Title :
Pattern Analysis and Machine Intelligence, IEEE Transactions on
