Showing papers by "Matthew Turk published in 1987"
01 Mar 1987
TL;DR: The vision system for Alvin, the Autonomous Land Vehicle, addressing in particular the task of road-following is described, which builds symbolic descriptions of the road and obstacle boundaries using both video and range sensors.
Abstract: We describe the vision system for Alvin, the Autonomous Land Vehicle, addressing in particular the task of road-following. The system builds symbolic descriptions of the road and obstacle boundaries using both video and range sensors. Road segmentation methods are described for video-based road-following, along with approaches to boundary extraction and the transformation of boundaries in the image plane into a vehicle-centered three dimensional scene model. The ALV has performed public road-following demonstrations, traveling distances up to 4.5 km at speeds up to 20 km/hr along a paved road, equipped with an RGB video camera with pan/tilt control and a laser range scanner.
81 citations
25 Feb 1987
TL;DR: Techniques are presented for road segmentation and obstacle detection based on color video data using constraints on road characteristics in the image space and in 3D color space, and the road is extracted and represented by its edges.
Abstract: The primary vision task in road-following for a mobile robot is to provide a description of the road environment, including possible obstacles on the road. Techniques are presented for road segmentation and obstacle detection based on color video data. Using constraints on road characteristics in the image space and in 3D color space, the road is extracted and represented by its edges. Assuming vehicle movement, obstacles are detected at a distance and an obstacle avoidance mode is entered.
26 citations