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VITS-a vision system for autonomous land vehicle navigation

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4 Author(s)
M. A. Turk ; Martin Marietta Denver Aerosp., CO, USA ; D. G. Morgenthaler ; K. D. Gremban ; M. Marra

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

Published in:

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