Page 33 - Autonomous Mobile Robots
P. 33
16 Autonomous Mobile Robots
World mapping Obstacle map Elevation map Road map Lead vehicle orientation and speed Feature map
Sensor fusion Obstacle map fusion Terrain cluster fusion Road map and obstacle map fusion
Task-specific processing Color segmentation Landmark detection Target tracking Terrain classification Obstacle detection 3D target tracking Terrain analysis
Modeling and calibration Road model Lane Model Vehicle model Terrain model Color calibration Stereo calibration Vehicle to world coordinates VGS.
of the
Architecture
Sensor Color camera Stereo camera Laser range finder 1.2 © 2006 by Taylor & Francis Group, LLC
FIGURE
FRANKL: “dk6033_c001” — 2006/3/31 — 16:42 — page 16 — #16
