1987 Year End Report for Road Following at Carnegie Mellon

Abstract

This report describes progress in vision and navigation for outdoor mobile robots at the Carnegie Mellon Robotics Institute during 1987. This research centers on guiding outdoor autonomous vehicles. In 1987 we concentrated on five areas: 1) Road following. We expanded our road tracking system to better handle shadows and bright sunlight. 2) Range data interpretation. Our range interpretation work has expanded from processing a single frame, to combining several frames of data into a terrain map. 3) Expert systems for image interpretation. We explored finding roads in very difficult scenes, without relying on strong a priori road color or shape models. 4) Car recognition. We recognize cars in color images by a hierarchy of grouping image features, and predicting where to look for other image features. 5) Geometric camera calibration. Our new method for calibration avoids complex non-linear optimizations found in other calibration schemes.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 1988
Accession Number
ADA203946

Entities

People

  • Charles E. Thorpe
  • Takeo Kanade

Organizations

  • Carnegie Mellon University

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Automata Theory
  • Autonomous Navigation
  • Computer Graphics
  • Computer Languages
  • Computer Programming
  • Computer Programs
  • Computer Vision
  • Computers
  • Data Processing
  • Image Processing
  • Information Science
  • Measurement
  • Robots
  • Three Dimensional
  • Two Dimensional
  • Unsupervised Machine Learning

Fields of Study

  • Computer science

Readers

  • Image Processing and Computer Vision.
  • Neural Network Machine Learning.
  • Systems Analysis and Design

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy