Core Knowledge System.

摘要

This document contains an in-depth description of the Core Knowledge System (CKS)-an integrative environment for the many functions that must be performed by sensor-based autonomous and semi-autonomous systems. The CKS itself has been designed to support a wide variety of potential applications. However, special attention has been given to assuring its relevance to a particular application that of an autonomous land vehicle operating in an unconstrained outdoor environment. The functionality provided by the system is described, along with discussions of the various design decisions and their associated trade-offs where applicable. This paper is not intended to serve as a user's manual, rather its purpose is to describe the CKS in sufficient detail to allow the reader to ascertain its relevance to a particular application and to provide a technical critique of its strengths and weaknesses. Chapter 2 contains a complete overview of the goals and architecture of the CKS and the services it provides. It is a slightly revised version of a paper that appeared in the proceedings of the DARPA Image Understanding Workshop held in February 1987 7. The remaining chapters examine specific areas in more detail, amplifying important notions and providing examples where appropriate. Chapter 12 describes a scenario that illustrates the envisioned role of the CKS in a complex, sensor- based system. The final chapter gives the current status of the CKS, including its implementation and the directions of ongoing research.