CMU sidewalk navigation system: a blackboard-based outdoor navigation system using sensor fusion with colored-range images
Yoshimasa Goto, Kazutoshi Matsuzaki, In So Kweon, T. Obatake · Fall joint computer conference · 1986
We describe the CMU Sidewalk Navigation System, which can drive a vehicle in the outdoor environment of the CMU campus. The system includes all modules necessary for outdoor navigation .. modules for route planning, local path planning, vehicle driving, perception, and map data. The perception module uses sensor fusion with color and rage data to analyze complex outdoor scenes accurately and efficiently. 2. System Architecture for the Outdoor Navigati0.n System