We run our autonomy experiments on a Yamaha Viking All-Terrain Vehicle, with two courses shown below. Course 1 consists of waypoints spaced 50m apart, and Course 2 consists of waypoints with varying spacing up to 200m. The VLAD clusters used for feature generation were copmuted from sample images collected from the "training data" zone. For each run, the system is initialized with no prior environment interaction data, and a single high-cost tree label from the training data area.
+We run our autonomy experiments on a Yamaha Viking All-Terrain Vehicle, with two courses shown below. Course 1 consists of waypoints spaced 50m apart, and Course 2 consists of waypoints with varying spacing up to 200m. The VLAD clusters used for feature generation were computed from sample images collected from the "training data" zone. For each run, the system is initialized with no prior environment interaction data, and a single high-cost tree label from the training data area.
