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29 March 1988 Hyperpyramids For Vision-Driven Navigation
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If an autonomous vehilce is to operate in an environment of arbitrary complexity, it must be able to perceive the locations of the obstacles in its environment and store this information in a world model. It is important that the world model be structured in such a manner that the information may be easily utilized. An object-oriented data structure called Hyper-Pyramids is presented for representing the environment in the navigation problem. A summary of preliminary research efforts on the navigation problem is also presented. This includes work on the implementation and manipulation of octtree-like data structures, and the introduction of a new technique for the recovery of depth information from grey-scale images.
© (1988) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
R. Jain, Y. Roth-Tabak, and K. Skifstad "Hyperpyramids For Vision-Driven Navigation", Proc. SPIE 0937, Applications of Artificial Intelligence VI, (29 March 1988);

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