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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