TY - GEN
T1 - Visual algorithms for autonomous navigation
AU - Andresen, Fred P.
AU - Davis, Larry S.
AU - Eastman, Roger D.
AU - Kambhampati, Subbarao
N1 - Funding Information:
Tbe support of the Ddenae Advanced Reaearch Projects Agency and the U.S. Army Night Vision Lahorat.ory under contract DAAK7@83.0018 (DARPA order 3206) a well an the U. S. Army Engineering Topographic Laboratory under Contnd DAAK70-81-GOOSQis gratefully acknowledged.
Publisher Copyright:
© 1985 IEEE.
PY - 1985
Y1 - 1985
N2 - The Computer Vision Laboratory at the University of Maryland is designing and developing a vision system for autonomous ground navigation. Our approach to visual navigation segments the task into three levels called long range, intermediate range and short range navigation. At the long range, one would first generate a plan for the day's outing, identifying the starting location, the goal, and a low resolution path for moving from the start to the goal. From time to time, during the course of the outing, one may want to establish his position with respect to the long range plan. This could be accomplished by visually identifying landmarks of known location, and then triangulating to determine current position. We describe a vision system for position determination that we have developed as part of this project. At the intermediate range, one would look ahead to determine generally safe directions of travel called corridors of free apace. Short range navigation is the process that, based on a detailed topographic analysis of one's immediate environment, enables us to safely navigate around obstacles in the current corridor of free space along a track of safe passage. We describe a quadtree based path planning algorithm which could serve as the basis for identifying such tracks of safe passage.
AB - The Computer Vision Laboratory at the University of Maryland is designing and developing a vision system for autonomous ground navigation. Our approach to visual navigation segments the task into three levels called long range, intermediate range and short range navigation. At the long range, one would first generate a plan for the day's outing, identifying the starting location, the goal, and a low resolution path for moving from the start to the goal. From time to time, during the course of the outing, one may want to establish his position with respect to the long range plan. This could be accomplished by visually identifying landmarks of known location, and then triangulating to determine current position. We describe a vision system for position determination that we have developed as part of this project. At the intermediate range, one would look ahead to determine generally safe directions of travel called corridors of free apace. Short range navigation is the process that, based on a detailed topographic analysis of one's immediate environment, enables us to safely navigate around obstacles in the current corridor of free space along a track of safe passage. We describe a quadtree based path planning algorithm which could serve as the basis for identifying such tracks of safe passage.
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U2 - 10.1109/ROBOT.1985.1087352
DO - 10.1109/ROBOT.1985.1087352
M3 - Conference contribution
AN - SCOPUS:84974368225
SN - 0818606150
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 856
EP - 861
BT - Proceedings - 1985 IEEE International Conference on Robotics and Automation, ICRA 1985
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE International Conference on Robotics and Automation, ICRA 1985
Y2 - 25 March 1985 through 28 March 1985
ER -