VITS-A Vision System for Autonomous Land Vehicle Navigation
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special Issue on Industrial Machine Vision and Computer Vision Technology:8MPart
Vision and navigation for the Carnegie-Mellon navlab
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special Issue on Industrial Machine Vision and Computer Vision Technology:8MPart
Active vision in robotic systems: A survey of recent developments
International Journal of Robotics Research
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We suggest the use of extended landmarks, such as shorelines, creeks, tree lines, and railroads, as well as roads for autonomous navigation of an unmanned air vehicle (UAV). In particular, we recommend the use of shorelines, because of their common availability, their ease of detection, and their significance in terms of events happening along them. Monitoring coastlines and waterways from low flying UAVs has many applications for military and civilian use. We report the development of a vision system that has enabled a prototype UAV to follow shorelines autonomously (without requiring maps or GPS). Using a near-infrared sensor the vision system distinguishes water from land (irrespective of water's color) and issues commands to the autopilot to follow the coastline or the riverbank. One insight of this problem is that the control algorithm could be integrated deeply with the vision system. This has the benefit of delaying smoothing/regularization so that it could occur in the context of the control coordinate system rather than the image or ground coordinate system. The algorithm itself is simple, but it possibly points the way to future algorithms which could more closely couple image processing and control. Furthermore, the experience gained in this work may be of value in the development of vision systems for following other types of paths.