Abstract: A method and apparatus for automatically determining pathway boundaries for autonomous robotic navigation. A structured light pattern consisting of a plurality of lines is projected on the pathway and background and the reflected pattern is detected by a stereoscopically located video camera. Since the texture of the pathway and background are different, the captured image may be processed to distinguish one from the other. Image processing includes Hough transformation of the image field, rank filtering and morphological dilation. The end points of the pathway lines identified by such processing as well as the 3-D coordinates of such end points are determined.

Abstract: Apparatus for testing and evaluating live fire weapons systems. A vertical rojection screen is located downrange from an operator controlled weapons system which launches an ordnance tracer projectile intended to intercept a target. The target is a bright laser spot projected and steered along the projection screen. The projection screen has a retroreflective surface and is constructed out of disposable panels. The projectile is detected as it approaches the laser spot target, and apparatus is provided for scoring the projectile within a specified area around the laser spot target.