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<p>A description is given of VITS (for vision task sequencer), the vision system for the autonomous land vehicle (ALV) Alvin, addressing in particular the task of road-following. The ALV vision system builds symbolic descriptions of road and obstacle boundaries using both video and range sensors. The authors discuss various road segmentation methods for video-based road-following, along with approaches to boundary extraction and transformation of boundaries in the image plane into a vehicle-centered three-dimensional scene model.</p>
computer vision; robot vision; 3D scene model; computerised navigation; computerised pattern recognition; autonomous land vehicle; VITS; vision task sequencer; road-following; symbolic descriptions; video; range sensors; boundary extraction; computer vision; computerised navigation; computerised pattern recognition; vehicles

K. Gremban, M. Turk, M. Marra and D. Morgenthaler, "VITS-A Vision System for Autonomous Land Vehicle Navigation," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 10, no. , pp. 342-361, 1988.
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