VISUAL NAMGATION OF ROABWAYS

This paper describes ongoing work at the Computer Vision Laboratory, in support of the Autonomous Land Vehicle project of the Defense Advanced Research Projects Agency’s Strategic Computing Program. A visnai navigation system is being developed to enable a vehicle to follow roads which, for the time being, are free of obstacles. We have developed a.n approach which consists of a boot-strap phase and a feed-forward phase. In each phase, visual processing is executed in three modules: an image processing module, a geometry module and a rulebused reasoning module. These modules and their interreIationships are described, with particular detail given to the image processing module.