CARMEL Versus FLAKEY

CARMEL's software design is hierarchical in Object recognition is done using a single camera and a one-pass algorithm to detect horizontally striped, bar-code-like tags on each of the 10 objects. A distance and a heading for each object are returned. Recalibrating the robot's position is done by triangulating from three objects with known locations. FLAKEY's basic software design is distributed: Articles On the perception side, modules add raw sonar and structured-light information to LPS, treating it as an occupancy grid. Other interpretive processes use this information to construct and maintain higher-order structures, parsing the data into surface segments, recognizing objects, and so on.