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Vision and navigation for the Carnegie-Mellon Navlab

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4 Author(s)
C. Thorpe ; Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA, USA ; M. H. Hebert ; T. Kanade ; S. A. Shafer

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

Published in:

IEEE Transactions on Pattern Analysis and Machine Intelligence  (Volume:10 ,  Issue: 3 )