The mapping and planning system for the New York University's DARPA LAGR (Learning Applied to Ground Robots) autonomous navigation software. This vision-space mapping and planning allows to make local navigation decisions more than 200 meters away with a limited number of cells. It maps the whole field of view around the robot in an image-like cylinder around the robot. See http://www.cs.nyu.edu/~yann/research/lagr/index.html and http://sermanet.free.fr/ for more details.
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