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A description is given of VITS (for vision task sequencer), the vision system for the autonomous land vehicle (ALV) Alvin, addressing in particular the task of road-following. The ALV vision system builds symbolic descriptions of road and obstacle boundaries using both video and range sensors. The authors discuss various road segmentation methods for video-based road-following, along with approaches to boundary extraction and transformation of boundaries in the image plane into a vehicle-centered three-dimensional scene model.>
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Matthew A. Turk
Toyota Technological Institute at Chicago
David G. Morgenthaler
Leidos (United States)
Keith Gremban
University of Colorado Boulder
IEEE Transactions on Pattern Analysis and Machine Intelligence
Massachusetts Institute of Technology
Carnegie Mellon University
Martin Marietta Materials (United States)
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Turk et al. (Sun,) studied this question.
synapsesocial.com/papers/6a19fbba9289b0a87eea72b3 — DOI: https://doi.org/10.1109/34.3899