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(c) 2000, 2001 SNU CSE Biointelligence Lab Chapter 6.Robot Vision Introduction Computer vision Endowing machines with the means to “see” Create an image of a scene and extract features Very difficult problem for machines Several different scenes can produce identical images. Images can be noisy . Cannot directly ‘invert’ the image to reconstruct the scene. Steering an Automobile ALVINN system [Pomerleau 1991,1993] Uses Artificial Neural Network Used 30*32 TV image as input (960 input node) 5 Hidden node 30 output node Training regime: modified “on-the-fly” A human driver drives the car