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We present a solution to the problem of long-range obstacle/path recognition in autonomous robots. The system uses sparse traversability information from a stereo module to train a classifier online. The trained classifier can then accurately classify the entire scene. A distance-normalized image pyramid makes it possible to efficiently train a learning(More)
— We present a solution to the problem of long-range obstacle/path recognition in autonomous robots. The system uses sparse traversability information from a stereo module to train a classifier online. The trained classifier can then predict the traversability of the entire scene. A distance-normalized image pyramid makes it possible to efficiently train on(More)
The method of choice for vision-based driving in off-road mobile robots is to construct a traversibility map of the environment using stereo vision. In the most common approach, a stereo matching algorithm, applied to images from a pair of stereo cameras, produces a " point-cloud " , in which the most visible pixels are given an XYZ position relative to the(More)
This specification/document may be reproduced and distributed in whole, but (except as provided in the next sentence) not in part, for internal and informational use only and not for commercial distribution. Notwithstanding the foregoing sentence, any protocol implementation conformance statements (PICS) or implementation conformance statements (ICS)(More)
Acknowledgments First of all, I must thank my advisor Denis Zorin under whose guidance I have learned how to conduct rigorous computer science research. Denis's knowledge is vast, and his opinions are measured. His curriculum extended beyond computer science and mathematics into life, public policy, and common sense. During my time at NYU, I have been lucky(More)
This specification/document may be reproduced and distributed in whole, but (except as provided in the next sentence) not in part, for internal and informational use only and not for commercial distribution. Notwithstanding the foregoing sentence, any protocol implementation conformance statements (PICS) or implementation conformance statements (ICS)(More)