1988 Year End Report for Road Following at Carnegie Mellon
Abstract
This report describes the progress in vision and navigation for outdoor mobile robots at the Carnegie Mellon Robotics Institute during 1988. This research was primarily sponsored by DARPA as part of the Strategic Computing Initiative. Portions of this research were also partially supported by the National Science Foundation and Digital Corporation. In the four years of the project, we have built perception modules for following roads, detecting obstacles, mapping terrain, and recognizing objects. Together with our sister 'Integration' contract, we have built systems that drive mobile robots along roads and cross country, and have gained valuable insights into viable approaches for outdoor mobile robot research. This work is briefly summarized in Chapter 1 of this report. Specifically in 1988, we have completed one color vision system for finding roads, begun two others that handle difficult lighting and structured public roads and highways, and built a road-following system that uses active scanning with a laser rangefinder. We have used 3-D information to build elevation maps for cross-country path planning, and have used maps to retraverse a route. Progress in 1988 on these projects is described briefly in Chapter 1, and in more detail in the following chapters.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 01, 1989
- Accession Number
- ADA210594
Entities
People
- Charles Thorpe
- Takeo Kanade
Organizations
- Carnegie Mellon University