Vision and navigation for the Carnegie-Mellon Navlab
C. Thorpe, Martial Hebert, Takeo Kanade, Steven A. Shafer · IEEE Transactions on Pattern Analysis and Machine Intelligence · 1988
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.>