9. A single line scanner, 3-D point cloud, Small errors in pose estimation and Terrain labeling for parameter tuning
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12. Adaptive Vision This figure illustrates the processing stages of the computer vision system: (a) a raw image; (b) the processed image with the laser quadrilateral and a pixel classification; (c) the pixel classification before thresholding; and (d) horizon detection for sky removal.
13. Adaptive Vision These images illustrate the rapid adaptation of Stanley’s computer vision routines. When the laser predominately screens the paved surface, the grass is not classified as drivable. As Stanley moves into the grass area, the classification changes.
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