The Computer Vision Laboratory at the University of Maryland for the past year has been developing a computer vision system for autonomous ground navigation of roads and road networks for the Defense Advanced Research Projects Agency's Strategic Computing Program. The complete system runs on a VAX 11/785, but certain parts of it have been reimplemented on a VICOM image processing system for experimentation on an autonomous vehicle built for the Martin Marietta Corp., Aerospace Division, in Denver, Colorado. We give a brief overview of the principal software components of the system and then describe the VICOM implementation in detail.
Davis et al. (1986) studied this question.