Journal ArticleDOI
Vision and navigation for the Carnegie-Mellon Navlab
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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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Real time road mark following
TL;DR: An original method for real time road mark following to be carried out on a motorway and based on a prediction-verification-dating principle, which was made on standard equipment without the need for a special processor.
Proceedings ArticleDOI
ISR3: communication and data storage for an unmanned ground vehicle
TL;DR: This paper reviews efforts at CMU, SRI and UMass to build real-time computer vision systems for mobile robotics, and presents a new tool, called ISR3, for communications, data storage/retrieval and database management on the UMass Mobile Perception Laboratory (MPL), a NAVLAB-like autonomous vehicle.
Proceedings ArticleDOI
Vision-based real-time road detection in urban traffic
TL;DR: In this paper, a real-time method that extracts the most likely road model using a set of feature-line-pairs (FLPs) is presented, which can detect each of them with a Kalman filter tracking scheme.
Proceedings ArticleDOI
Robust extraction of shady roads for vision-based UGV navigation
TL;DR: A new vision-based approach where flexible number of models are built from sample data, which gives more robust results and, in particular, recognizes shadows on road as drivable road surface instead of non-road.
Proceedings ArticleDOI
Autonomous navigation through case-based learning
Juyang Weng,Shaoyun Chen +1 more
TL;DR: A new self-organizing scheme called recursive partition tree (RPT) is used for automatic construction of a vision-and-control database, which quickly prunes the data set in the content-based search and results in a low time complexity of log(n) for retrieval from a database of size n.
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.