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Proceedings Paper

Parallel Off-Road Perception Processing On The Autonomous Land Vehicle
Author(s): R.Terry Dunlay; Steven B. Seida
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Paper Abstract

This paper describes off-road perception techniques developed for the Autonomous Land Vehicle (ALV). Processing is performed on a parallel processor, the Warp Machine, a 100 MFLOPS systolic array computer. An overview of the complete off-road system is presented, followed by detailed descriptions of the parallel perception processing techniques used in classifying outdoor terrain. Range images are used to determine a Cartesian height map representation of the area in front of the ALV. Then one of a number of different methods of classifying terrain regions in the Cartesian map can be used. The resulting traversability map, consisting of 3 categories (traversable, obstacle, or unknown), is used in path planning. The advantages and limitations of the different approaches are exam- ined and results from each are presented.

Paper Details

Date Published: 10 March 1989
PDF: 9 pages
Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949081
Show Author Affiliations
R.Terry Dunlay, Martin Marietta Information & Communications Systems (United States)
Steven B. Seida, Martin Marietta Information & Communications Systems (United States)

Published in SPIE Proceedings Vol. 1007:
Mobile Robots III
William J. Wolfe, Editor(s)

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