Vision-based road following in the autonomous land vehicle
Steven B. Seida, David G. Morgenthaler, Mark Podlaseck, Bob Douglass, Jon McSwain, Robert Knourek, Mark Roland Thomas · 1987
The Navigation system for Martin Marietta Denver Aerospace's Autonomous Land Vehicle project receives information from the Vision system about road boundaries and obstacle locations. This information is used in an optimization equation to create trajectory points on the road. This paper briefly describes the Vision processing, and describes the Navigation algorithms.