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The vast majority of Autonomous Ground Vehicles in development today operate with GPS based navigation systems. While the accuracy of GPS systems has improved greatly over the previous decade, the stability of their signal has not. The phenomenon is commonly known as "drift" and may have a magnitude of more than a few meters. This paper outlines a method for vision based correction and localization...
This paper describes the development and performance of a vision system, named PFSS (path finder smart sensor) for autonomous navigation of an unmanned ground vehicle. A monocular camera and vision processing algorithms were used as the sensor system to identify traversable terrain. Unlike the Bayesian based method which was used by Team CIMAR in the 2005 DARPA Grand Challenge, the expectation-maximization...
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