Abstract

The US Army Missile Command is conducting a program to develop and demonstrate a simple, low cost machine vision system capable of allowing an unmanned ground vehicle to perform autonomous road following and obstacle avoidance while using a minimum sensor suite. Current work is focused on developing this vision system to perform its function using color and monochrome TV imagery. The first phase of the program has involved the development and application of color and monochrome image processing techniques to the task of discriminating a road from the surrounding environment. With the road defined, a guidance vector is determined for vehicle steering. >

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