Journal ArticleDOI
Vision and navigation for the Carnegie-Mellon Navlab
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TLDR
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.Citations
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Using CCD Cameras for Obstacle Avoidance and Detection of Pedestrians
TL;DR: It is demonstrated that the Controlled Active Vision framework can be utilized to provide a visual tracking modality to a traffic advisory system in order to increase the overall safety margin in a variety of common traffic situations.
Journal ArticleDOI
A Robust Registration Method for the Reconstruction of 3D Urban Objects using Ground-based Laser Range Scanner
Huijing Zhao,Ryosuke Shibasaki +1 more
TL;DR: A robust method for registering laser range images of an urban object like buildings is proposed under the assumption that the laser scanner is located so that the rotating axis is vertical to the ground.
Book ChapterDOI
Local perception and navigation for mobile robots
TL;DR: The main features of the software architectures of current mobile robot systems are reviewed, giving special attention to the role of the perception system, and to the spatial representations used.
Proceedings ArticleDOI
Self-coordinating mobile robots using a specialized image processor
TL;DR: A system for autonomously coordinating the paths of a mobile robot in a multiple robot environment is described, based on a specialized image processor for recognizing structured environments.
References
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Journal ArticleDOI
Pattern Classification and Scene Analysis.
Book
Pattern classification and scene analysis
Richard O. Duda,Peter E. Hart +1 more
TL;DR: In this article, a unified, comprehensive and up-to-date treatment of both statistical and descriptive methods for pattern recognition is provided, including Bayesian decision theory, supervised and unsupervised learning, nonparametric techniques, discriminant analysis, clustering, preprosessing of pictorial data, spatial filtering, shape description techniques, perspective transformations, projective invariants, linguistic procedures, and artificial intelligence techniques for scene analysis.
Book
A robust layered control system for a mobile robot
TL;DR: A new architecture for controlling mobile robots is described, building a robust and flexible robot control system that has been used to control a mobile robot wandering around unconstrained laboratory areas and computer machine rooms.
Journal ArticleDOI
A robust layered control system for a mobile robot
TL;DR: In this paper, a new architecture for controlling mobile robots is described, which is made up of asynchronous modules that communicate over low-bandwidth channels, each module is an instance of a fairly simple computational machine.
Journal ArticleDOI
A visual navigation system for autonomous land vehicles
A M Waxman,J. LeMoigne,Larry S. Davis,B. Srinivasan,Todd R. Kushner,Eli Liang,T. Siddalingaiah +6 more
TL;DR: A modular system architecture has been developed to support visual navigation by an autonomous land vehicle that consists of vision modules performing image processing, three-dimensional shape recovery, and geometric reasoning, as well as modules for planning, navigating, and piloting.