ALV Closeup: Finding Road When Offroad

Steven Seida

doi:10.1117/12.949082

10 March 1989 ALV Closeup: Finding Road When Offroad

Steven Seida

Proceedings Volume 1007, Mobile Robots III; (1989) https://doi.org/10.1117/12.949082
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

Flexible and capable autonomous navigation for military missions requires hybrid road and offroad navigation. A vehicle may travel cross country where roads are not available, too exposed, or too damaged. It may also have to navigate existing roads when greater vehicle speeds are desired and exposure risk is acceptable. One critical component of the hybrid road/offroad navigation is the "Road from Offroad" problem: the ability of the vehicle to identify, navigate towards, and enter a paved roadway from an offroad position. A relatively fast (35 seconds) and reliable method developed for the Autonomous Land Vehicle (ALV) is presented. The algorithm runs on a general purpose processor and starts with a raster scan based image segmenter, followed by a rule-based region merging step. A classification scheme that identifies road areas is then applied to the largest regions created by the rule based merge. Simple descriptions of likely road areas in the image are then

Citation Download Citation

Steven Seida "ALV Closeup: Finding Road When Offroad", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); https://doi.org/10.1117/12.949082

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