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29 March 1988 Hyperpyramids For Vision-Driven Navigation
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Abstract
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); https://doi.org/10.1117/12.947029
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