No abstract

No abstract

No abstract

This paper describes the first cross-country map and sensorbased autonomous operation of a robotic vehicle. Experiments on the Autonomous Land Vehicle in natural terrain were performed. An overview of the software architecture used for this achievement is discussed, and details of the perception and planning techniques are presented. We describe two key experiments where the vehicle avoided known and unknown obstacles in its path.

One of the unique applications of Mixed and Augmented Reality (MR / AR) MotivationIn Mixed Reality (MR) and Augmented Reality (AR) systems, virtual objects are combined with real images at interactive rates in 3D. Such displays can enhance the user's perception of the real environment by showing information the user cannot directly sense when unaided. For example, in many AR applications we wish to endow the user with "X-ray vision," enabling the user to see through objects to view a fetus inside a womb, to see pipes and conduits behind walls, or to spot the location of a hidden enemy soldier. Being able to see occluded objects is a useful capability in a variety of medical, architectural, inspection, and military applications. This technology is especially useful in urban environments, where broad, angular surfaces (e.g., walls in hallways, buildings on a street, etc.) limit one's field of view of nearby visually-obscured locations.However, displaying such hidden objects in a manner that a user intuitively understands is not always trivial. Take the example of a soldier in one room of a building using an AR system to spot the known location of a 1). The use of transparent overlays (LEFT) conveys depth by letting the viewer see structure not otherwise visible, but while still perceiving the realworld structure. A similar approach (RIGHT) presents normally unseen structure by over-rendering a virtual "cut-away" of the occluding surfaces. This approach more clearly depicts the inside of the room, but at the cost of occluding real-world surfaces.