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The Warp Machine on Navlab
May 1991 (vol. 13 no. 5)
pp. 451-465

The authors review the history of the Carnegie-Mellon Warp machine on Navlab, an autonomous land vehicle, and describe three Navlab vision systems implemented on the Warp machine. They then critically evaluate components of Warp in light of this experience. The Warp machine was used to implement stereo vision for obstacle avoidance and color-based road-following systems. The stereo-vision system was FIDO, which is derived from some of the earliest work in vision-guided robot vehicle navigation. Two color-based road following systems were implemented; one adapted conventional vision techniques to the problem of road recognition and the other used a neural network-based technique to learn road following online. Finally, the authors discuss the value of applications integration with machine development, discuss the limitations of the attached processor model, and give recommendations for future systems.

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Index Terms:
computer vision; computerised pattern recognition; Warp machine; Navlab; Carnegie-Mellon; autonomous land vehicle; stereo vision; obstacle avoidance; color-based road-following systems; FIDO; vision-guided robot; vehicle navigation; neural network; computer vision; computerised navigation; computerised pattern recognition; mobile robots; neural nets; road vehicles
Citation:
J.D. Crisman, J.A. Webb, "The Warp Machine on Navlab," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 13, no. 5, pp. 451-465, May 1991, doi:10.1109/34.134044
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