Peek at 1998 Moravec book, Chapter 2

2: Caution! Robot Vehicle!

Mobile Robot Research in the 1970s

Stanford AI Lab, Stanford Cart, Caution sign, all collaged

Cart under SAIL: Both robot vehicle and road hazard, the dimly aware Stanford Cart traverses the driveway of the Stanford Artificial Intelligence Laboratory, in a composite image recreating the situation in the 1970s.

Progress in 3D Mapping

Sparse map from Cart in 1979, Dense grid from Crayfish in 1997

1979 and 1997 - 3D maps from stereoscopic images In each example about 40 images similar to the ones shown were stereoscopically processed to make the maps below them. The map on the left shows the Cart's position near the beginning of a run, its camera field of view, its planned path and a kind of perspective view of features that passed all consistency checks. Each feature is a black dot linked to the ground by a diagonal line. The diagonal's length is the feature's height, where it meets the ground is its forward and lateral position. The features are also marked by dots overlayed on the camera image. To aid interpretation, about a dozen clusters of features were hand-labelled with the identity of the object on which they were found. The map on the right is a perspective view of the occupied cells in a 256x256x64 "evidence" grid representing a six meter square by two meter high bite of the office above. To aid visualization, the cells in about a dozen box-shaped volumes selected by hand were "spotlighted" with distinctive tints.

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