Vision and navigation for the Carnegie-Mellon Navlab |
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| Authors: | Thorpe C. Hebert M.H. Kanade T. Shafer S.A. |
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| Affiliation: | Dept. of Comput. Sci., Carnegie-Mellon Univ., Pittsburgh, PA; |
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| Abstract: | 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. Results are described for vision and navigation tests using a mobile testbed that integrates perception and navigation capabilities that are based on two types of vision algorithms: color vision for road following, and 3-D vision for obstacle detection and avoidance. The perception modules are integrated into a system that allows the vehicle to drive continuously in an actual outdoor environment. The resulting system is able to navigate continuously on roads while avoiding obstacles |
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