Vision and Navigation : The Carnegie Mellon Navlab

Mobile robots are playing an increasingly important role in our world. Remotely operated vehicles are in everyday use for hazardous tasks such as charting and cleaning up hazardous waste spills, construction work of tunnels and high rise buildings, and underwater inspection of oil drilling platforms...

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Corporate Author: SpringerLink (Online service)
Other Authors: Thorpe, Charles E. (Editor)
Format: eBook
Language:English
Published: New York, NY Springer US 1990, 1990
Edition:1st ed. 1990
Series:The Springer International Series in Engineering and Computer Science
Subjects:
Online Access:
Collection: Springer Book Archives -2004 - Collection details see MPG.ReNa
Table of Contents:
  • A Driving Control Scheme for Mobile Robots
  • 10.1 Introduction
  • 10.2 Processing Steps and Driving Unit
  • 10.3 Continuous Motion, Adaptive Control, and the Driving Pipeline
  • 10.4 The Driving Pipeline in Action: Experimental Results
  • 10.5 Conclusion
  • 10.6 References
  • 11. Multi-Resolution Constraint Modeling for Mobile Robot Planning
  • 11.1 Introduction
  • 11.2 The Local Navigation Problem
  • 11.3 Finding Trajectories
  • 11.4 Experiments
  • 11.5 Conclusions
  • 11.6 Acknowledgements
  • 11.7 References
  • 12. Navlab: An Autonomous Navigation Testbed
  • 12.1 Introduction
  • 12.2 Controller
  • 12.3 Vehicle Shell
  • 12.4 Locomotion
  • 12.5 Electrical System
  • 12.6 Telemetry
  • 12.7 Perceptive Sensing and Computing
  • 12.8 Conclusion
  • 13. Vehicle and Path Models for Autonomous Navigation
  • 13.1 Introduction
  • 13.2 Vehicle Representation
  • 13.3 Path Representation
  • 13.4 Path Tracking
  • 13.5 Results
  • 13.6 Conclusions
  • 13.7 References
  • 14. The Warp Machine on Navlab
  • 14.1 Introduction
  • 14.2 History of the Warp Machine on Navlab
  • 14.3 FIDO
  • 14.4 SCARF
  • 14.5 ALVINN
  • 14.6 Evaluation of the Warp Machine on Navlab
  • 14.7 Conclusions
  • 14.8 References
  • 15. Outdoor Visual Navigation for Autonomous Robots
  • 15.1 Introduction
  • 15.2 Example Systems
  • 15.3 Discussion and Conclusions
  • 15.4 Acknowledgements
  • 15.5 References
  • 1. Introduction
  • 1.1. Mobile Robots
  • 1.2. Overview
  • 1.3. Acknowledgments
  • 2. Color Vision for Road Following
  • 2.1. Introduction
  • 2.2. SCARF
  • 2.3. UNSCARF
  • 2.4. Results and Conclusions
  • 2.5. References
  • 3. Explicit Models for Robot Road Following
  • 3.1 Implicit Models Considered Harmful
  • 3.2 Systems, Models, and Assumptions
  • 3.3 FERMI
  • 3.4 References
  • 4. An Approach to Knowledge-Based Interpretation of Outdoor Natural Color Road Scenes
  • 4.1. Abstract
  • 4.2. Introduction
  • 4.3. Related Work
  • 4.4. Adjustable Explicit Scene Models and the Interpretation Cycle
  • 4.5. System Overview
  • 4.6. Results of the Road Scene Interpretation
  • 4.7. The Road Scene Interpretation System in Detail
  • 4.8. Future Work
  • 4.9. Conclusion
  • 4.10. Acknowledgement
  • 4.11. References
  • 5. Neural Network Based Autonomous Navigation
  • 5.1. Introduction
  • 5.2. Network Architecture
  • 5.3. Training And Performance
  • 5.4. Network Representation
  • 5.5. Discussion And Extensions
  • 5.6. Conclusion
  • 5.7. References
  • 6. Car Recognition for the CMU Navlab
  • 6.1 Introduction
  • 6.2 Related work
  • 6.3 The LASSIE object recognition program
  • 6.4 Results
  • 6.5 Directions for future work
  • 6.6 Summary
  • 6.7 References
  • 7. Building and Navigating Maps of Road Scenes Using Active Range and Reflectance Data
  • 7.1. Introduction
  • 7.2. Following roads using active reflectance images
  • 7.3. Building maps from range and reflectance images
  • 7.4. Map-based road following
  • 7.5. Conclusion
  • 7.6. References
  • 8. 3-D Vision Techniques for Autonomous Vehicles
  • 8.1. Introduction
  • 8.2. Active range and reflectance sensing
  • 8.3. Terrain representations
  • 8.4. Combining multiple terrain maps
  • 8.5. Combining range and intensity data
  • 8.6. Conclusion
  • 8.7. References
  • 9. The CODGER System for Mobile Robot Navigation
  • 9.1 Introduction
  • 9.2 Overview of the CODGER System
  • 9.3 Data Storage and Transfer