RI | Research | Labs | NavLab | Publications

Text only version of this site

Publications, NavLab

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez
  doctoral dissertation, tech. report CMU-RI-TR-08-02, Robotics Institute, Carnegie Mellon University, May, 2008. [Abstract]
  Download: pdf [4175 KB] copyrighted

• Replanning with Uncertainty in Position: Sensor Updates vs. Prior Map Updates
  J.P. Gonzalez and A. Stentz
  Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA), May, 2008. [Abstract]
  Download: pdf [1588 KB] copyrighted

• Segmentation of Salient Regions in Outdoor Scenes Using Imagery and 3-D Data
  G. Kim, D. Huber, and M. Hebert
  IEEE Workshop on Applications of Computer VIsion (WACV08), IEEE Computer Society, January, 2008. [Abstract]
  Download: pdf [3158 KB] copyrighted

• Denoising Manifold and Non-Manifold Point Clouds
  R. Unnikrishnan and M. Hebert
  18th British Machine Vision Conference (BMVC), September, 2007. [Abstract]
  Download: pdf [624 KB] copyrighted

• Data Structures for Efficient Dynamic Processing in 3-D
  J. Lalonde, N. Vandapel, and M. Hebert
  The International Journal of Robotics Research, Vol. 26, No. 8, August, 2007, pp. 777-796. [Abstract]
  Download: pdf [3253 KB] copyrighted

• Simultaneous Localization, Mapping and Moving Object Tracking
  C. Wang, C. Thorpe, M. Hebert, S. Thrun, and H. Durrant-Whyte
  The International Journal of Robotics Research, Vol. 26, No. 6, June, 2007. [Abstract]
  Download: pdf [3854 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez and A. Stentz
  In Proceedings of the IEEE Int. Conference on Robotics & Automation (ICRA) 2007, April, 2007. [Abstract]
  Download: pdf [1400 KB] copyrighted

• 3D Field D: Improved Path Planning and Replanning in Three Dimensions
  J. Carsten, D. Ferguson, and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 3381 - 3386. [Abstract]
  Download: pdf [1139 KB] copyrighted

• Anytime RRTs
  D. Ferguson and A. Stentz
  Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '06), October, 2006, pp. 5369 - 5375. [Abstract]
  Download: pdf [1108 KB] copyrighted

• Learning-enhanced Market-based Task Allocation for Disaster Response
  E. Jones, M.B. Dias, and A. Stentz
  tech. report CMU-RI-TR-06-48, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [242 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps - Thesis Proposal
  J.P. Gonzalez
  tech. report CMU-RI-TR-06-45, Robotics Institute, Carnegie Mellon University, October, 2006. [Abstract]
  Download: pdf [5971 KB] copyrighted

• Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder
  R. MacLachlan and C. Mertz
  Intelligent Transportation Systems 2006, IEEE, Vol. 2006, September, 2006, pp. 301-306. [Abstract]
  Download: pdf [431 KB] copyrighted

• Learning and Predicting Moving Object Trajectory: a piecewise trajectory segment approach
  P. Choi and M. Hebert
  tech. report CMU-RI-TR-06-42, Robotics Institute, Carnegie Mellon University, August, 2006. [Abstract]
  Download: pdf [538 KB] copyrighted

• Planning with Uncertainty in Position Using High-Resolution Maps
  J.P. Gonzalez and A. Stentz
  tech. report CMU-RI-TR-06-33, Robotics Institute, Carnegie Mellon University, August, 2006. [Abstract]
  Download: pdf [1061 KB] copyrighted

• Automatic Three-Dimensional Point Cloud Processing for Forest Inventory
  J. Lalonde, N. Vandapel, and M. Hebert
  tech. report CMU-RI-TR-06-21, Robotics Institute, Carnegie Mellon University, July, 2006. [Abstract]
  Download: pdf [3377 KB] copyrighted

• Constrained Exploration for Studies in Multirobot Coordination
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006. [Abstract]
  Download: pdf [271 KB] copyrighted

• Data Structure for Efficient Dynamic Processing in 3-D
  J. Lalonde
  master's thesis, tech. report CMU-RI-TR-06-22, Robotics Institute, Carnegie Mellon University, May, 2006. [Abstract]
  Download: pdf [997 KB] copyrighted

• Integrated Collision Warning System Final Evaluation Report
  U. of C. PATH and C.M.U. RI
  FTA-PA-26-7006-06.1, May, 2006.
  Download: pdf [3952 KB] copyrighted

• Replanning with RRTs
  D. Ferguson, N. Kalra, and A. Stentz
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May, 2006, pp. 1243 - 1248. [Abstract]
  Download: pdf [351 KB] copyrighted

• Incremental Reconstruction of Generalized Voronoi Diagrams on Grids
  N. Kalra, D. Ferguson, and A. Stentz
  Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006. [Abstract]
  Download: pdf [4551 KB] copyrighted

• Multi-resolution Field D*
  D. Ferguson and A. Stentz
  Proceedings of the International Conference on Intelligent Autonomous Systems (IAS), March, 2006. [Abstract]
  Download: pdf [4756 KB] copyrighted

• The Geometric Path Planner for Navigating Unmanned Vehicles in Dynamic Environments
  J.P. Gonzalez, B. Nagy, and A. Stentz
  Proceedings ANS 1st Joint Emergency Preparedness and Response and Robotic and Remote Systems, February, 2006. [Abstract]
  Download: pdf [973 KB] copyrighted

• Using Interpolation to Improve Path Planning: The Field D* Algorithm
  D. Ferguson and A. Stentz
  Journal of Field Robotics, Vol. 23, No. 2, February, 2006, pp. 79-101. [Abstract]
  Download: pdf [1040 KB] copyrighted

• Accessibility and intelligent transportation systems
  A. Steinfeld
  Wheeled Mobility and Accessible Transportation 2003 Conference Proceedings, U.S. Department of Education, Interagency Committee on Disability Research (ICDR), Washington, DC, 2006, pp. 35-37.
  Download: pdf [853 KB] copyrighted

• Human-robot interaction
  A. Steinfeld
  International Encyclopedia of Ergonomics and Human Factors, 2nd Edition, W. Karwowski, ed., Taylor & Francis, London, 2006.

• Field D*: An Interpolation-based Path Planner and Replanner
  D. Ferguson and A. Stentz
  Proceedings of the International Symposium on Robotics Research (ISRR), October, 2005. [Abstract]
  Download: pdf [1540 KB] copyrighted

• Planning with Uncertainty in Position: An Optimal and Efficient Planner
  J.P. Gonzalez and A. Stentz
  Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS '05), August, 2005, pp. 2435 - 2442. [Abstract]
  Download: pdf [477 KB] copyrighted

• A Guide to Heuristic-based Path Planning
  D. Ferguson, M. Likhachev, and A. Stentz
  Proceedings of the International Workshop on Planning under Uncertainty for Autonomous Systems, International Conference on Automated Planning and Scheduling (ICAPS), June, 2005. [Abstract]
  Download: pdf [1806 KB] copyrighted

• Collision Warning and Sensor Data Processing in Urban Areas
  C. Mertz, D. Duggins, J. Gowdy, J. Kozar, R. MacLachlan, A. Steinfeld, A. Suppe, C. Thorpe, and C. Wang
  Proceedings of the 5th international conference on ITS telecommunications, June, 2005, pp. 73-78. [Abstract]
  Download: pdf [259 KB], ps.gz [308 KB] copyrighted

• Data Structure for Efficient Processing in 3-D
  J. Lalonde, N. Vandapel, and M. Hebert
  Robotics: Science and Systems 1, MIT Press, June, 2005. [Abstract]
  Download: pdf [425 KB] copyrighted

• Scale Selection for Classification of Point-sampled 3-D Surfaces
  J. Lalonde, R. Unnikrishnan, N. Vandapel, and M. Hebert
  Fifth International Conference on 3-D Digital Imaging and Modeling (3DIM 2005), June, 2005, pp. 285 - 292. [Abstract]
  Download: pdf [950 KB] copyrighted

• The Field D* Algorithm for Improved Path Planning and Replanning in Uniform and Non-Uniform Cost Environments
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-05-19, Robotics Institute, Carnegie Mellon University, June, 2005. [Abstract]
  Download: pdf [1920 KB] copyrighted

• Tracking Moving Objects From a Moving Vehicle Using a Laser Scanner
  R. MacLachlan
  tech. report CMU-RI-TR-05-07, Robotics Institute, Carnegie Mellon University, June, 2005. [Abstract]
  Download: pdf [477 KB] copyrighted

• Analysis and Removal of Artifacts in 3-D LADAR Data
  J. Tuley, N. Vandapel, and M. Hebert
  IEEE International Conference on Robotics and Automation, April, 2005, pp. 2203 - 2210. [Abstract]
  Download: pdf [537 KB] copyrighted

• Entwicklung eines Kollisionswarnsystems für Stadtbusse
  C. Mertz
  3. Workshop Fahrerassistenzsysteme, Markus Maurer and Christoph Stiller, April, 2005, pp. 56-63. [Abstract]
  Download: pdf [195 KB], ps.gz [203 KB] copyrighted

• Planning 3-D Path Networks in Unstructured Environments
  N. Vandapel, J. Kuffner, and O. Amidi
  Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), April, 2005, pp. 4624 - 4629. [Abstract]
  Download: pdf [469 KB] copyrighted

• Integrated Collision Warning System Final Technical Report
  U. of C. PATH and C. RI
  FTA-PA-26-7006-04.1, December, 2004. [Abstract]
  Download: pdf [7001 KB], ps.gz [33230 KB] copyrighted

• Finding Organized Structures in 3-D LADAR Data
  N. Vandapel and M. Hebert
  Army Science Conference, November, 2004. [Abstract]
  Download: pdf [3240 KB] copyrighted

• Planning with Uncertainty in Position: an Optimal Planner
  J.P. Gonzalez and A. Stentz
  tech. report CMU-RI-TR-04-63, Robotics Institute, Carnegie Mellon University, November, 2004. [Abstract]
  Download: pdf [944 KB], ps.gz [736 KB] copyrighted

• Path Planning with Hallucinated Worlds
  B. Nabbe, S. Kumar, and M. Hebert
  Proceedings: IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, Vol. 4, October, 2004, pp. 3123 - 3130. [Abstract]
  Download: pdf [639 KB] copyrighted

• A Hierarchical Object Based Representation for Simultaneous Localization and Mapping
  C. Wang and C. Thorpe
  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2004. [Abstract]
  Download: pdf [521 KB] copyrighted

• Delayed D*: The Proofs
  D. Ferguson and A. Stentz
  tech. report CMU-RI-TR-04-51, Robotics Institute, Carnegie Mellon University, September, 2004. [Abstract]
  Download: pdf [83 KB] copyrighted

• Finding Organized Structures in 3-D Ladar Data
  N. Vandapel and M. Hebert
  IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, September, 2004, pp. 786 - 791. [Abstract]
  Download: pdf [3110 KB] copyrighted

• Analysis and removal of artifacts in 3-D LADAR data
  J. Tuley, N. Vandapel, and M. Hebert
  tech. report CMU-RI-TR-04-44, Robotics Institute, Carnegie Mellon University, August, 2004. [Abstract]
  Download: pdf [917 KB] copyrighted

• A 2D Collision Warning Framework based on a Monte Carlo Approach
  C. Mertz
  Proceedings of ITS America's 14th Annual Meeting and Exposition, April, 2004. [Abstract]
  Download: pdf [603 KB] copyrighted

• Classifier Fusion for Outdoor Obstacle Detection
  C. Dima, N. Vandapel, and M. Hebert
  International Conference on Robotics and Automation, IEEE, Vol. 1, April, 2004, pp. 665 - 671. [Abstract]
  Download: pdf [560 KB] copyrighted

• Enabling Learning From Large Datasets: Applying Active Learning to Mobile Robotics
  C. Dima, M. Hebert, and A. Stentz
  International Conference on Robotics and Automation, IEEE, Vol. 1, April, 2004, pp. 108 - 114. [Abstract]
  Download: pdf [1159 KB] copyrighted

• Natural Terrain Classification using 3-D Ladar Data
  N. Vandapel, D. Huber, A. Kapuria, and M. Hebert
  IEEE International Conference on Robotics and Automation, Vol. 5, April, 2004, pp. 5117 - 5122. [Abstract]
  Download: pdf [1390 KB] copyrighted

• Simultaneous Localization, Mapping and Moving Object Tracking
  C. Wang
  doctoral dissertation, tech. report CMU-RI-TR-04-23, Robotics Institute, Carnegie Mellon University, April, 2004. [Abstract]
  Download: pdf [8157 KB] copyrighted

• Development of the Side Component of the Transit Integrated Collision Warning System
  A. Steinfeld, D. Duggins, J. Gowdy, J. Kozar, R. MacLachlan, C. Mertz, A. Suppe, C. Thorpe, and C. Wang
  IEEE Conference on Intelligent Transportation Systems (ITSC), 2004, pp. 343-348. [Abstract]
  Download: pdf [187 KB] copyrighted

• Interface lessons for fully and semi-autonomous mobile robots
  A. Steinfeld
  IEEE International Conference on Robotics and Automation (ICRA), 2004. [Abstract]
  Download: pdf [339 KB] copyrighted

• Perception for collision avoidance and autonomous driving
  R. Aufrere, J. Gowdy, C. Mertz, C. Thorpe, C. Wang, and T. Yata
  Mechatronics, Vol. 13, No. 10, December, 2003, pp. 1149-1161. [Abstract]
  Download: pdf [1186 KB] copyrighted

• Safe Robot Driving in Cluttered Environments
  C. Thorpe, J.D. Carlson, D. Duggins, J. Gowdy, R. MacLachlan, C. Mertz, A. Suppe, and C. Wang
  Proceedings of the 11th International Symposium of Robotics Research, October, 2003. [Abstract]
  Download: pdf [349 KB] copyrighted

• Sensor and Classifier Fusion for Outdoor Obstacle Detection: an Application of Data Fusion To Autonomous Off-Road Navigation
  C. Dima, N. Vandapel, and M. Hebert
  The 32nd Applied Imagery Recognition Workshop (AIPR2003), IEEE Computer Society, October, 2003, pp. 255 - 262. [Abstract]
  Download: pdf [234 KB] copyrighted

• Where and When to Look
  B. Nabbe and M. Hebert
  IROS 2003, IEEE, Vol. 1, October, 2003, pp. 920 - 927. [Abstract]
  Download: pdf [594 KB] copyrighted

• Ladar-Based Detection and Tracking of Moving Objects from a Ground Vehicle at High Speeds
  C. Wang, C. Thorpe, and A. Suppe
  IEEE Intelligent Vehicles Symposium (IV2003), June, 2003. [Abstract]
  Download: pdf [912 KB] copyrighted

• Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers
  R. Aufrere, C. Mertz, and C. Thorpe
  Proceedings of the IEEE Intelligent Vehicles Symposium (IV2003), June, 2003. [Abstract]
  Download: pdf [1711 KB] copyrighted

• Online Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects: Theory and Results from a Ground Vehicle in Crowded Urban Areas
  C. Wang, C. Thorpe, and S. Thrun
  IEEE International Conference on Robotics and Automation, May, 2003. [Abstract]
  Download: pdf [2005 KB] copyrighted

• terrain classification techniques from ladar data for autonomous navigation
  M. Hebert and N. Vandapel
  Collaborative Technology Alliances conference, May, 2003. [Abstract]
  Download: pdf [341 KB] copyrighted

• Evaluation and Comparison of Terrain Classification Techniques from LADAR Data for Autonomous Navigation
  M. Hebert, N. Vandapel, S. Keller, and R.R. Donamukkala
  23rd Army Science Conference, December, 2002. [Abstract]

• A Performance Specification for Transit Bus Side Collision Warning System
  S. McNeil, D. Duggins, C. Mertz, A. Suppe, and C. Thorpe
  ITS2002, proceedings of 9th World Congress on Intelligent Transport Systems, October, 2002. [Abstract]
  Download: pdf [41 KB], ps.gz [47 KB] copyrighted

• Safe Robot Driving
  C. Thorpe, R. Aufrere, J.D. Carlson, D. Duggins, T.W. Fong, J. Gowdy, J. Kozar, R. MacLachlan, C. McCabe, C. Mertz, A. Suppe, C. Wang, and T. Yata
  Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002. [Abstract]
  Download: pdf [4130 KB] copyrighted

• Side Collision Warning System (SCWS) Performance Specifications for a Transit Bus
  C. Thorpe, D. Duggins, S. McNeil, and C. Mertz
  Final report, prepared for the Federal Transit Administration under PennDOT agreement number 62N111, Project TA-34, May, 2002. [Abstract]
  Download: pdf [500 KB] copyrighted

• Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects
  C. Wang and C. Thorpe
  IEEE International Conference on Robotics and Automation, May, 2002. [Abstract]
  Download: pdf [430 KB] copyrighted

• Toward Practical Cooperative Stereo for Robotic Colonies
  B. Nabbe and M. Hebert
  2002 IEEE International Conference on Robotics and Automation, Omnipress, Vol. 4, No. 2002, May, 2002, pp. 3328-3335. [Abstract]
  Download: pdf [1195 KB] copyrighted

• Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance
  C. Thorpe, D. Duggins, J. Gowdy, R. MacLachlan, C. Mertz, M. Siegel, A. Suppe, C. Wang, and T. Yata
  Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, Vol. 4715, April, 2002. [Abstract]
  Download: pdf [57 KB], ps.gz [61 KB] copyrighted

• Robot as partner: vehicle teleoperation with collaborative control
  T.W. Fong, C. Thorpe, and C. Baur
  Multi-Robot Systems: From Swarms to Intelligent Automata, Alan Schultz and Lynne Parker, ed., Kluwer, 2002. [Abstract]
  Download: pdf [328 KB] copyrighted

• Static Environment Recognition Using Omni-camera from a Moving Vehicle
  T. Yata, C. Thorpe, and F. Dellaert
  tech. report CMU-RI-TR-02-12, Robotics Institute, Carnegie Mellon University, 2002. [Abstract]
  Download: pdf [493 KB] copyrighted

• Eye-safe Laser Line Striper for Outside Use
  C. Mertz, J. Kozar, J.R. Miller, and C. Thorpe
  IV 2002, IEEE Intelligent Vehicle Symposium, June, 2002., December, 2001. [Abstract]
  Download: pdf [1413 KB], ps.gz [582 KB] copyrighted

• Environment Recognition from a Car Using an Omni-camera
  T. Yata and C. Thorpe
  Proceedings of the 19th Annual Conference of the Robotics Society of Japan, September, 2001, pp. 539-540. [Abstract]

• Dressed Human Modeling, Detection, and Parts Localization
  L. Zhao
  doctoral dissertation, tech. report CMU-RI-TR-01-19, Robotics Institute, Carnegie Mellon University, July, 2001. [Abstract]
  Download: pdf [2031 KB], ps.gz [2467 KB] copyrighted

• Dependable Perception for Robots
  C. Thorpe, O. Clatz, D. Duggins, J. Gowdy, R. MacLachlan, J.R. Miller, C. Mertz, M. Siegel, C. Wang, and T. Yata
  Proceedings of International Advanced Robotics Programme IEEE, Robotics and Automation Society, Seoul, Korea, May, 2001. [Abstract]
  Download: pdf [590 KB], ps.gz [908 KB] copyrighted

• Sensor-friendly vehicle and roadway systems
  P. Griffiths, D. Langer, J.A. Misener, M. Siegel, and C. Thorpe
  Proceedings of the 18th Instrumentation and Measurement Technology Conference (IMTC '01), Vol. 2, May, 2001, pp. 1036 -1040. [Abstract]
  Download: pdf [544 KB] copyrighted

• Side Collision Warning Systems for Transit Buses: Functional Goals
  D. Duggins, S. McNeil, C. Mertz, C. Thorpe, and T. Yata
  tech. report CMU-RI-TR-01-11, Robotics Institute, Carnegie Mellon University, 2001. [Abstract]
  Download: pdf [30 KB], ps.gz [122 KB] copyrighted

• Side Collision Warning Systems for Transit Buses
  C. Mertz, S. McNeil, and C. Thorpe
  IV 2000, IEEE Intelligent Vehicle Symposium, October, 2000. [Abstract]
  Download: pdf [381 KB], ps.gz [625 KB] copyrighted

• Stereo and Neural Network-based Pedestrian Detection
  L. Zhao and C. Thorpe
  IEEE Transactions on Intelligent Transportation Systems, Vol. 1, No. 3, September, 2000, pp. 148 -154. [Abstract]
  Download: pdf [165 KB] copyrighted

• Recursive Context Reasoning for Human Detection and Part Identification
  L. Zhao and C. Thorpe
  IEEE Workshop on Human Modeling, Analysis, and Synthesis, June, 2000. [Abstract]
  Download: pdf [296 KB], ps.gz [170 KB] copyrighted

• A New Focus for Side Collision Warning Systems for Transit Buses
  S. McNeil, C. Thorpe, and C. Mertz
  ITS2000, Intelligent Transportation Society of America's Tenth Annual Meeting and Exposition, May, 2000. [Abstract]
  Download: pdf [138 KB], ps.gz [331 KB] copyrighted

• Stereo and Neural Network-based Pedestrian Detection
  L. Zhao and C. Thorpe
  Proc. 1999 Int'l Conf. on Intelligent Transportation Systems, October, 1999, pp. 298-303. [Abstract]
  Download: pdf [311 KB], ps.gz [327 KB] copyrighted

• Driver Adaptive Lane Departure Warning Systems
  P. Batavia
  doctoral dissertation, tech. report CMU-RI-TR-99-25, Robotics Institute, Carnegie Mellon University, September, 1999. [Abstract]
  Download: pdf [4738 KB] copyrighted

• Laser Intensity-Based Obstacle Detection and Tracking
  J. Hancock
  doctoral dissertation, tech. report CMU-RI-TR-99-01, Robotics Institute, Carnegie Mellon University, January, 1999. [Abstract]
  Download: pdf [2334 KB], ps.gz [4646 KB] copyrighted

• A Trinocular Stereo System for Highway Obstacle Detection
  T. Williamson and C. Thorpe
  1999 International Conference on Robotics and Automation (ICRA '99), IEEE, 1999. [Abstract]
  Download: pdf [388 KB] copyrighted

• Experiments with Driving Modes for Urban Robots
  M. Hebert, R. MacLachlan, and P. Chang
  Proceedings of SPIE, 1999. [Abstract]
  Download: pdf [2200 KB] copyrighted

• Laser Intensity-Based Obstacle Detection
  J. Hancock, M. Hebert, and C. Thorpe
  Proceedings 1998 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '98), Vol. 3, October, 1998, pp. 1541 - 1546. [Abstract]
  Download: pdf [475 KB] copyrighted

• Predicting Lane Position for Roadway Departure Prevention
  P. Batavia, D. Pomerleau, and C. Thorpe
  Proceedings of the IEEE Intelligent Vehicles Symposium, IEEE, October, 1998. [Abstract]
  Download: pdf [73 KB], ps.gz [71 KB] copyrighted

• Qualitative and Quantitative Car Tracking from a Range Image Sequence
  L. Zhao and C. Thorpe
  Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), IEEE, June, 1998, pp. 496-501. [Abstract]
  Download: pdf [227 KB], ps.gz [91 KB] copyrighted

• Toward Middleware Fault Injection for Automotive Networks
  P. Koopman, E. Tran, and G. Hendrey
  Fault Tolerant Computing Symposium, June, 1998, pp. 78 - 79. [Abstract]

• Model-Based Car Tracking Integrated with a Road-Follower
  F. Dellaert, D. Pomerleau, and C. Thorpe
  International Conference on Robotics and Automation, May, 1998. [Abstract]
  Download: pdf [503 KB], ps.gz [864 KB] copyrighted

• Driver Adaptive Warning Systems
  P. Batavia
  tech. report CMU-RI-TR-98-07, Robotics Institute, Carnegie Mellon University, March, 1998. [Abstract]
  Download: pdf [461 KB] copyrighted

• Functional Evolution of an Automated Highway System for Incremental Deployment
  M. Bayouth and P. Koopman
  Transportation Research Record, No. 1651, 1998, pp. 80 - 88. [Abstract]
  Download: pdf [81 KB] copyrighted

• Multiple Adaptive Intelligent Agents for Tactical Driving
  R. Sukthankar, S. Baluja, and J. Hancock
  International Journal of Applied Intelligence, 1998.
  Download: pdf [395 KB], ps.gz [233 KB] copyrighted

• Orthogonal Capability Building Blocks for Flexible AHS Deployment
  P. Koopman and M. Bayouth
  Journal of Intelligent Transportation Systems, Vol. 4, 1998, pp. 1 - 19. [Abstract]
  Download: pdf [56 KB] copyrighted

• Tactical-level Simulation for Intelligent Transportation Systems
  R. Sukthankar, J. Hancock, and C. Thorpe
  Journal on Mathematical and Computer Modeling, Special Issue on ITS, Vol. 27, No. 9 - 11, 1998, pp. 228 - 242. [Abstract]
  Download: pdf [153 KB], ps.gz [234 KB] copyrighted

• Expectation-based selective attention for visual monitoring and control of a robot vehicle
  S. Baluja and D. Pomerleau
  Robotics and Autonomous Systems, Vol. 22, No. 3-4, December, 1997, pp. 329-344.
  Download: pdf [131 KB], ps.gz [603 KB] copyrighted

• Mission Failure Probability Calculations for Critical Function Mechanizations in the Automated Highway System
  E. Tran and P. Koopman
  tech. report CMU-RI-TR-97-44, Robotics Institute, Carnegie Mellon University, December, 1997. [Abstract]
  Download: pdf [118 KB], ps.gz [137 KB] copyrighted

• Overtaking Vehicle Detection Using Implicit Optical Flow
  P. Batavia, D. Pomerleau, and C. Thorpe
  Proceedings of the IEEE Transportation Systems Conference, November, 1997, pp. 729 - 734. [Abstract]
  Download: pdf [55 KB], ps.gz [242 KB] copyrighted

• The 1997 Automated Highway Free Agent Demonstration
  C. Thorpe, T. Jochem, and D. Pomerleau
  IEEE Conference on Intelligent Transportation Systems, November, 1997, pp. 496 - 501. [Abstract]
  Download: pdf [526 KB] copyrighted

• Visibility Estimation from a Moving Vehicle Using the RALPH Vision System
  D. Pomerleau
  IEEE Conference on Intelligent Transportation Systems, November, 1997, pp. 906 - 911. [Abstract]
  Download: pdf [671 KB] copyrighted

• A Distributed Tactical Reasoning Framework for Intelligent Vehicles
  R. Sukthankar, D. Pomerleau, and C. Thorpe
  SPIE: Intelligent Systems and Advanced Manufacturing, October, 1997.

• Automated Highways and the Free Agent Demonstration
  C. Thorpe, T. Jochem, and D. Pomerleau
  International Symposium on Robotics Research, October, 1997. [Abstract]
  Download: pdf [429 KB] copyrighted

• Performance Specification Development For Roadway Departure Collision Avoidance Systems
  D. Pomerleau, C. Thorpe, and L. Emery
  Proceedings of the 4th World Congress on Intelligent Transportation Systems, October, 1997. [Abstract]
  Download: pdf [107 KB] copyrighted

• An examination of the STRIPE vehicle teleoperation system
  J.S. Kay and C. Thorpe
  Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), Vol. 2, September, 1997, pp. 1152 - 1157. [Abstract]
  Download: pdf [834 KB] copyrighted

• Map Building with Radar and Motion Sensors for Automated Highway Vehicle Navigation
  K. Kimoto and C. Thorpe
  Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), Vol. 3, September, 1997, pp. 1721 -1728. [Abstract]
  Download: pdf [644 KB] copyrighted

• Mixed Traffic and Automated Highways
  C. Thorpe
  Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), Vol. 2, September, 1997, pp. 1011 -1017. [Abstract]
  Download: pdf [715 KB] copyrighted

• Modeling and Analysis of Driver/Vehicle Dynamics with Run-Off-Road Crash Avoidance Systems
  J.A. Hadden, J.H. Everson, D.B. Pape, V.K. Narendran, and D. Pomerleau
  30th International Symposium on Automotive Technology and Automation, June, 1997, pp. 343-350. [Abstract]
  Download: pdf [175 KB] copyrighted

• AURORA: A Vision-Based Roadway Departure Warning System
  M. Chen, T. Jochem, and D. Pomerleau
  tech. report CMU-RI-TR-97-21, Robotics Institute, Carnegie Mellon University, May, 1997. [Abstract]
  Download: pdf [322 KB], ps.gz [1432 KB] copyrighted

• High-Speed Obstacle Detection for Automated Highway Applications
  J. Hancock
  tech. report CMU-RI-TR-97-17, Robotics Institute, Carnegie Mellon University, May, 1997. [Abstract]
  Download: pdf [139 KB], ps.gz [118 KB] copyrighted

• Evolving an Intelligent Vehicle for Tactical Reasoning in Traffic
  R. Sukthankar, S. Baluja, and J. Hancock
  Proceedings of the International Conference on Robotics and Automation, Vol. 1, April, 1997, pp. 519 - 524. [Abstract]
  Download: pdf [182 KB], ps.gz [226 KB] copyrighted

• DAMN: A Distributed Architecture for Mobile Navigation
  J. Rosenblatt
  doctoral dissertation, tech. report CMU-RI-TR-97-01, Robotics Institute, Carnegie Mellon University, January, 1997. [Abstract]
  Download: pdf [0 KB], ps.gz [2898 KB] copyrighted

• Situation Awareness for Tactical Driving
  R. Sukthankar
  doctoral dissertation, tech. report CMU-RI-TR-97-08, Robotics Institute, Carnegie Mellon University, January, 1997. [Abstract]
  Download: pdf [917 KB], ps.gz [822 KB] copyrighted

• DAMN: A Distributed Architecture for Mobile Navigation
  J. Rosenblatt
  Journal of Experimental and Theoretical Artificial Intelligence, Vol. 9, No. 2 / 3, 1997, pp. 339 - 360.
  Download: pdf [95 KB], ps.gz [82 KB] copyrighted

• Detecting Overtaking Vehicles With Implicit Optical Flow
  P. Batavia, D. Pomerleau, and C. Thorpe
  tech. report CMU-RI-TR-97-28, Robotics Institute, Carnegie Mellon University, 1997. [Abstract]
  Download: pdf [173 KB], ps.gz [849 KB] copyrighted

• High-performance laser range scanner
  J. Hancock, E. Hoffman, R. Sullivan, D. Ingimarson, D. Langer, and M. Hebert
  SPIE Proceedings on Intelligent Transportation Systems, 1997. [Abstract]
  Download: pdf [361 KB] copyrighted

• Robust Car Tracking using Kalman filtering and Bayesian templates
  F. Dellaert and C. Thorpe
  Conference on Intelligent Transportation Systems, 1997. [Abstract]
  Download: pdf [462 KB], ps.gz [1091 KB] copyrighted

• STRIPE: Remote Driving Using Limited Image Data
  J.S. Kay
  doctoral dissertation, tech. report CMU-CS-97-100, Computer Science Department, Carnegie Mellon University, 1997.

• The 1997 Automated Highway Demonstration
  C. Thorpe, T. Jochem, and D. Pomerleau
  1997 International Symposium on Robotics Research, 1997.

• Vision-Based Neural Network Road and Intersection Detection
  T. Jochem and D. Pomerleau
  In Intelligent Unmanned Ground Vehicles, Martial H. Hebert, Charles Thorpe, and Anthony Stentz, ed., Kluwer Academic Publishers, 1997.

• Applying Advanced Learning Algorithms to ALVINN
  P. Batavia, D. Pomerleau, and C. Thorpe
  tech. report CMU-RI-TR-96-31, Robotics Institute, Carnegie Mellon University, October, 1996. [Abstract]
  Download: pdf [151 KB], ps.gz [79 KB] copyrighted

• Fusing Radar and Vision for Detecting, Classifying and Avoiding Roadway Obstacles
  D. Langer and T. Jochem
  IEEE Symposium on Intelligent Vehicles, September, 1996. [Abstract]
  Download: pdf [499 KB] copyrighted

• Vision Based Intersection Navigation
  T. Jochem, D. Pomerleau, and C. Thorpe
  Proceedings of the 1996 IEEE Symposium on Intelligent Vehicles, September, 1996, pp. 391 - 396. [Abstract]
  Download: pdf [1238 KB] copyrighted

• Evolution of an artificial neural network based autonomous land vehicle controller
  S. Baluja
  IEEE Transactions on Systems, Man and Cybernetics, Part B, Vol. 26, No. 3, June, 1996, pp. 450 - 463. [Abstract]
  Download: pdf [2258 KB] copyrighted

• Driving Simulator Tests of Lane Separture Collision Avoidance Systems
  L. Tijerina, J.J. Jackson, D. Pomerleau, R.A. Romano, and A.D. Pertersen
  ITS America Sixth Annual Meeting, April, 1996. [Abstract]
  Download: pdf [390 KB] copyrighted

• Image Processor Drives Across America
  D. Pomerleau and T. Jochem
  Photonics Spectra, April, 1996, pp. 80-85.

• Rapidly Adapting Machine Vision for Automated Vehicle Steering
  D. Pomerleau and T. Jochem
  IEEE Expert: Special Issue on Intelligent System and their Applications, Vol. 11, No. 2, April, 1996, pp. 19-27. [Abstract]
  Download: pdf [1657 KB] copyrighted

• Dynamic Vehicle Simulation to Evaluate Countermeasure Systems for Run-Off-Road Crashes
  D.B. Pape, V.K. Narendran, M.J. Koenig, J.A. Hadden, J.H. Everson, and D. Pomerleau
  International Congress 81 Exposition, February, 1996. [Abstract]
  Download: pdf [211 KB] copyrighted

• Tessellator Robot Design Document
  K. Dowling
  tech. report CMU-RI-TR-95-43, Robotics Institute, Carnegie Mellon University, January, 1996. [Abstract]
  Download: pdf [1062 KB] copyrighted

• A Simulation and Design System for Tactical Driving Algorithms
  R. Sukthankar, J. Hancock, D. Pomerleau, and C. Thorpe
  Proceedings of AI, Simulation and Planning in High Autonomy Systems, 1996. [Abstract]
  Download: pdf [115 KB], ps.gz [71 KB], ps.z [129 KB] copyrighted

• Adaptive Intelligent Vehicle Modules for Tactical Driving
  R. Sukthankar, J. Hancock, S. Baluja, D. Pomerleau, and C. Thorpe
  Proceedings AAAI '96, 1996. [Abstract]
  Download: pdf [125 KB], ps.gz [107 KB] copyrighted

• Life in the Fast Lane: The Evolution of an Adaptive Vehicle Control System
  T. Jochem and D. Pomerleau
  AI Magazine, Vol. 17, No. 2, 1996, pp. 11-50. [Abstract]
  Download: pdf [2102 KB] copyrighted

• Prototyping Intelligent Vehicle Modules Using Evolutionary Algorithms
  S. Baluja, R. Sukthankar, and J. Hancock
  Evolutionary Algorithms in Engineering Applications, Dasgupta, D. and Michalewicz, Z., ed., Springer-Verlag, Berlin, 1996, pp. 241 - 257. [Abstract]
  Download: pdf [341 KB] copyrighted

• RALPH: Rapidly Adapting Lateral Position Handler
  D. Pomerleau
  IEEE Symposium on Intelligent Vehicles, September, 1995, pp. 506 - 511. [Abstract]
  Download: pdf [614 KB] copyrighted

• SHIVA: Simulated Highways for Intelligent Vehicle Algorithms
  R. Sukthankar, D. Pomerleau, and C. Thorpe
  Proceedings of Intelligent Vehicles '95, September, 1995, pp. 332 - 337. [Abstract]
  Download: pdf [226 KB], ps.gz [91 KB], ps.z [186 KB] copyrighted

• Vision Guided Lane Transition
  T. Jochem, D. Pomerleau, and C. Thorpe
  IEEE Symposium on Intelligent Vehicles, September, 1995, pp. 30 - 35. [Abstract]
  Download: pdf [513 KB] copyrighted

• AURORA: A Vision-Based Roadway Departure Warning System
  M. Chen, T. Jochem, and D. Pomerleau
  IEEE Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots, Vol. 1, August, 1995, pp. 243 - 248. [Abstract]
  Download: pdf [318 KB], ps.gz [1419 KB] copyrighted

• Combining Multiple Goals in a Behavior-Based Architecture
  J. Rosenblatt and C. Thorpe
  IEEE Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots (IROS '95), Vol. 1, August, 1995, pp. 136 - 141. [Abstract]
  Download: pdf [40 KB], ps.gz [38 KB] copyrighted

• ELVIS: Eigenvectors for Land Vehicle Image System
  J. Hancock and C. Thorpe
  Proceedings of the International Conference on Intelligent Robots and Systems. 'Human Robot Interaction and Cooperative Robots' (IROS '95), Vol. 1, August, 1995, pp. 35 - 40. [Abstract]
  Download: pdf [673 KB] copyrighted

• Range Sensor based Outdoor Vehicle Navigation, Collision Avoidance and Parallel Parking
  D. Langer and C. Thorpe
  Autonomous Robots, Vol. 2, No. 2, August, 1995, pp. 147 - 161. [Abstract]
  Download: pdf [451 KB] copyrighted

• The YARF System for Vision-Based Road Following
  K. Kluge and C. Thorpe
  Mathematical and Computer Modelling, Vol. 22, No. 4-7, August, 1995, pp. 213-233.

• Vision-Based Neural Network Road and Intersection Detection and Traversal
  T. Jochem, D. Pomerleau, and C. Thorpe
  IEEE Conference on Intelligent Robots and Systems (IROS '95), Vol. 3, August, 1995, pp. 344 - 349. [Abstract]
  Download: pdf [633 KB] copyrighted

• Operator Interface Design Issues In A Low-Bandwidth And High-Latency Vehicle Teleoperation System
  J. Kay and C. Thorpe
  International Conference on Environmental Systems, July, 1995. [Abstract]
  Download: pdf [637 KB] copyrighted

• DAMN: A Distributed Architecture for Mobile Navigation
  J. Rosenblatt
  Proceedings of the 1995 AAAI SpringSymposium on Lessons Learned from Implemented Software Architectures for Physical Agents, AAAI Press, March, 1995.
  Download: pdf [0 KB], ps.gz [60 KB] copyrighted

• Demonstration of an Autonomous Convoying Concept
  B. Motazed, D. Patukas, A. Kelly, D. Pomerleau, and T. Jochem
  Proceedings of the Fifth Annual Meeting of IVHS America, March, 1995.

• Neural Network Vision for Robot Driving
  D. Pomerleau
  The Handbook of Brain Theory and Neural Networks, M. Arbib, ed., 1995.
  Download: pdf [375 KB], ps.gz [325 KB] copyrighted

• Robots, Transportation, and Society
  C. Thorpe and D. Pomerleau
  Proceedings of ISRR-7, 1995.

• Semi-Autonomous Vehicle Teleoperation Across Low-Bandwidth or High-Delay Transmission Links
  J. Kay and C. Thorpe
  1995. [Abstract]
  Download: pdf [437 KB], ps.gz [472 KB] copyrighted

• A Behavior-Based System for Off-Road Navigation
  D. Langer, J. Rosenblatt, and M. Hebert
  IEEE Trans. Robotics and Automation, Vol. 10, No. 6, December, 1994, pp. 776-782.
  Download: pdf [242 KB], ps.gz [801 KB] copyrighted

• A discriminating feature tracker for vision-based autonomous driving
  H. Schneiderman and M. Nashman
  IEEE Transactions on Robotics and Automation, Vol. 10, No. 6, December, 1994, pp. 769 - 775. [Abstract]
  Download: pdf [1116 KB] copyrighted

• ELVIS: Eigenvectors for Land Vehicle Image System
  J. Hancock and C. Thorpe
  tech. report CMU-RI-TR-94-43, Robotics Institute, Carnegie Mellon University, December, 1994. [Abstract]
  Download: pdf [153 KB], ps.gz [416 KB] copyrighted

• Defense and Civilian Applications of the ALVINN Robot Driving System
  D. Pomerleau
  1994 Government Microcircuit Applications Conference, November, 1994, pp. 358-362. [Abstract]
  Download: pdf [114 KB] copyrighted

• A Reactive System For Off-Road Navigation
  D. Langer, J. Rosenblatt, and M. Hebert
  Proc. of IEEE Robotics and Automation, May, 1994. [Abstract]
  Download: pdf [2099 KB] copyrighted

• An Integrated System for Autonomous Off-Road Navigation
  D. Langer, J. Rosenblatt, and M. Hebert
  Proc. IEEE Int. Conf. on Robotics and Automation, May, 1994.
  Download: pdf [249 KB], ps.gz [1171 KB] copyrighted

• AVCS Research at Carnegie Mellon University
  D. Pomerleau, C. Thorpe, D. Langer, J. Rosenblatt, and R. Sukthankar
  Proceedings of Intelligent Vehicle Highway Systems, 1994. [Abstract]
  Download: pdf [137 KB] copyrighted

• Reliability Estimation for Neural Network Based Autonomous Driving
  D. Pomerleau
  Robotics and Autonomous Systems, Vol. 12, 1994, pp. 113-119.
  Download: pdf [330 KB] copyrighted

• Sensor Performance and Weather Effects Modeling for Intelligent Transportation Systems
  J. Everson, E. Kopala, L. Lazofson, H. Choe, and D. Pomerleau
  (ITS) Applications, Proceedings of SPIE International Symposium on Photonics for Electronic Products, Vol. 2344, 1994. [Abstract]
  Download: pdf [461 KB] copyrighted

• A Massively Parallel Road Follower
  T. Jochem and S. Baluja
  Proceedings of Computer Architectures for Machine Perception, December, 1993, pp. 2 - 12. [Abstract]
  Download: pdf [1169 KB] copyrighted

• Smart Cars: The CMU Navlab
  C. Thorpe, R.C. Coulter, M. Hebert, T. Jochem, D. Langer, D. Pomerleau, J. Rosenblatt, W. Ross, and A. Stentz
  Proceedings of WORLD MED93, October, 1993.

• Neural Networks for Intelligent Vehicles
  D. Pomerleau
  Proceedings of the 1993 Intelligent Vehicles Conference, July, 1993, pp. 19 - 24.
  Download: pdf [575 KB] copyrighted

• Real-time Visual Processing For Autonomous Driving
  M. Nashman and H. Schneiderman
  Intelligent Vehicles '93 Symposium, July, 1993, pp. 373 - 378.
  Download: pdf [590 KB] copyrighted

• Design of Space Shuttle Tile Servicing Robot: An Application of Task Based Kinematic Design
  J. Kim and P. Khosla
  IEEE International Conference on Robotics and Automation (ICRA '93), Vol. 3, May, 1993, pp. 867 - 874. [Abstract]
  Download: pdf [722 KB] copyrighted

• Panacea: An Active Sensor Controller for the ALVINN Autonomous Driving System
  R. Sukthankar, D. Pomerleau, and C. Thorpe
  tech. report CMU-RI-TR-93-09, Robotics Institute, Carnegie Mellon University, April, 1993. [Abstract]
  Download: pdf [272 KB], ps.gz [733 KB] copyrighted

• Analysis of Feature Detectors Learned by a Neural Network Autonomous Driving System
  D. Pomerleau and D.S. Touretzky
  International Conference on Intelligent Autonomous Systems (IAS-3) contitle:Understanding Neural Network Internal Representations through Hidden Unit Sensitivity Analysis, February, 1993, pp. 572-581.

• MANIAC: A Next Generation Neurally Based Autonomous Road Follower
  T. Jochem, D. Pomerleau, and C. Thorpe
  Proceedings of the International Conference on Intelligent Autonomous Systems, February, 1993. [Abstract]
  Download: pdf [21 KB], ps.gz [26 KB] copyrighted

• SCARF: A Color Vision System that Tracks Roads and Intersections
  J. Crisman and C. Thorpe
  IEEE Trans. on Robotics and Automation, Vol. 9, No. 1, February, 1993, pp. 49 - 58. [Abstract]
  Download: pdf [1060 KB] copyrighted

• STRIPE: Supervised TeleRobotics Using Incremental Polygonal Earth Geometry
  J. Kay and C. Thorpe
  International Conference on Intelligent Autonomous Systems, February, 1993, pp. pp 399-406.
  Download: pdf [428 KB] copyrighted

• YARF: An Open-Ended Framework for Robot Road Following
  K. Kluge
  tech. report CMU-CS-93-104, Computer Science Department, Carnegie Mellon University, February, 1993.

• Intersection Detection in the YARF Road Following System
  K. Kluge and C. Thorpe
  International Conference of Intelligent Autonomous Systems, 1993, pp. pp 145-154.

• Knowledge-based Training of Artificial Neural Networks for Autonomous Robot Driving
  D. Pomerleau
  Robot Learning, J. Connell and S. Mahadevan, ed., 1993. [Abstract]
  Download: pdf [357 KB] copyrighted

• Neural network perception for mobile robot guidance
  D. Pomerleau
  Kluwer Academic Publishing, 1993.

• Panacea: An Active Sensor Controller for the ALVINN Autonomous Driving System
  R. Sukthankar, D. Pomerleau, and C. Thorpe
  Proceedings of the International Symposium on Robotics Research, 1993.
  Download: pdf [254 KB], ps.gz [731 KB], ps.z [802 KB] copyrighted

• RACCOON: A Real-time Autonomous Car Chaser Operating Optimally at Night
  R. Sukthankar
  Proceedings of the IEEE IV'93, 1993.
  Download: pdf [113 KB], ps.gz [120 KB], ps.z [134 KB] copyrighted

• Visual Processing for Autonomous Driving
  H. Schneiderman and M. Nashman
  Proceedings of IEEE Workshop on Applications of Computer Vision, December, 1992, pp. 164 - 171. [Abstract]
  Download: pdf [598 KB] copyrighted

• A Mobile Robot for Ground Servicing Operations on the Space Shuttle
  K. Dowling, R. Bennett, M. Blackwell, T. Graham, S. Gatrall, R. O'Toole, and H. Schempf
  OE / Technology 1992 Cooperative Intelligent Robots in Space, SPIE, November, 1992.
  Download: pdf [101 KB], ps.gz [98 KB] copyrighted

• Mobile Robot System for Ground Servicing Operations on the Space Shuttle
  H. Schempf, K. Dowling, and M. Blackwell
  SPIE OE/Technology `92 Conference, November, 1992.
  Download: pdf [101 KB], ps.gz [98 KB] copyrighted

• RACCOON: A Real-time Autonomous Car Chaser Operating Optimally at Night
  R. Sukthankar
  tech. report CMU-RI-TR-92-13, Robotics Institute, Carnegie Mellon University, October, 1992. [Abstract]
  Download: pdf [133 KB], ps.gz [123 KB] copyrighted

• Serpentine Manipulator Planning and Control for NASA Space-Shuttle Payload Servicing
  H. Herman and H. Schempf
  tech. report CMU-RI-TR-92-10, Robotics Institute, Carnegie Mellon University, October, 1992. [Abstract]
  Download: pdf [1059 KB] copyrighted

• Third Annual Report for Perception for Outdoor Navigation
  C. Thorpe and T. Kanade
  tech. report CMU-RI-TR-92-16, Robotics Institute, Carnegie Mellon University, September, 1992.
  Download: pdf [0 KB], ps.gz [1102 KB] copyrighted

• Representation and Recovery of Road Geometry in YARF.
  K. Kluge and C. Thorpe
  Proceedings of the Intelligent Vehicles '92 Symposium, July, 1992, pp. 114 -119. [Abstract]
  Download: pdf [516 KB] copyrighted

• Sonar Based Outdoor Vehicle Navigation and Collision Avoidance
  D. Langer and C. Thorpe
  Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92), Vol. 2, July, 1992, pp. 1445 -1450. [Abstract]
  Download: pdf [614 KB] copyrighted

• Progress in Neural Network-based Vision for Autonomous Robot Driving
  D. Pomerleau
  Proceedings of the 1992 Intelligent Vehicles Conference, June, 1992, pp. 391-396. [Abstract]
  Download: pdf [775 KB] copyrighted

• Second Annual Report for Perception for Outdoor Navigation
  C. Thorpe and T. Kanade
  tech. report CMU-RI-TR-91-28, Robotics Institute, Carnegie Mellon University, December, 1991. [Abstract]
  Download: pdf [6529 KB] copyrighted

• Integrating Position Measurement and Image Understanding for Autonomous Vehicle Navigation
  C. Thorpe, O. Amidi, J. Gowdy, M. Hebert, and D. Pomerleau
  Proceedings of 2nd International Workshop on High Precision Navigation, November, 1991.

• Toward Autonomous Driving: The CMU Navlab. Part II: System and Architecture
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  IEEE Expert, Vol. 6, No. 4, August, 1991, pp. 44 - 52. [Abstract]
  Download: pdf [939 KB] copyrighted

• Toward Autonomous Driving: The CMU Navlab. Part I: Perception
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  IEEE Expert, Vol. 6, No. 4, August, 1991, pp. 31 - 42. [Abstract]
  Download: pdf [2055 KB] copyrighted

• Predictive Path Tracking of Mobile Robots
  A. Ollero and O. Amidi
  Proceedings of 5th International Conference on Advanced Robotics, Robots in Unstructured Environments (ICAR '91), Vol. 2, June, 1991, pp. 1081 - 1086. [Abstract]
  Download: pdf [408 KB] copyrighted

• The Warp machine on Navlab
  J.D. Crisman and J.A. Webb
  IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 13, May, 1991, pp. 451 - 465. [Abstract]
  Download: pdf [1547 KB] copyrighted

• UNSCARF, A Color Vision System for the Detection of Unstructured Roads
  J. Crisman and C. Thorpe
  Proceedings of IEEE International Conference on Robotics and Automation, Vol. 3, April, 1991, pp. 2496 - 2501. [Abstract]
  Download: pdf [1040 KB] copyrighted

• Combining artificial neural networks and symbolic processing for autonomous robot guidance
  D. Pomerleau, J. Gowdy, and C. Thorpe
  Engineering Applications of Artificial Intelligence, Vol. 4, No. 4, 1991, pp. 279 - 285. [Abstract]
  Download: pdf [173 KB] copyrighted

• Efficient Training of Artificial Neural Networks for Autonomous Navigation
  D. Pomerleau
  Neural Computation, Vol. 3, No. 1, 1991, pp. 88-97.
  Download: pdf [491 KB] copyrighted

• Neural network-based vision processing for autonomous robot guidance
  D. Pomerleau
  Proceedings of SPIE Conference on Aerospace Sensing, 1991.

• Outdoor visual navigation for autonomous robots
  C. Thorpe
  Robotics and Autonomous Systems 7, 1991.

• Rapidly Adapting Artificial Neural Networks for Autonomous Navigation
  D. Pomerleau
  Advances in Neural Information Processing Systems 3, Morgan Kaufmann, 1991, pp. 429-435.

• First Year End Report for Perception for Outdoor Navigation
  C. Thorpe and T. Kanade
  tech. report CMU-RI-TR-90-23, Robotics Institute, Carnegie Mellon University, November, 1990. [Abstract]
  Download: pdf [5219 KB] copyrighted

• Implementation of Dynamic Obstacle Avoidance on the CMU NavLab
  D. Feng, S. Singh, and B. Krogh
  Proc. IEEE International Conference on Systems Engineering, August, 1990. [Abstract]
  Download: pdf [314 KB] copyrighted

• Color Image Processing for Navigation: Two Road Trackers
  D. Aubert and C. Thorpe
  tech. report CMU-RI-TR-90-09, Robotics Institute, Carnegie Mellon University, April, 1990. [Abstract]
  Download: pdf [595 KB] copyrighted

• Autonomous Navigation of Structured City Roads
  D. Aubert, K. Kluge, and C. Thorpe
  Proceedings of SPIE Mobile Robots V, 1990. [Abstract]
  Download: pdf [962 KB] copyrighted

• Hierarchical Terrain Representations for Off-Road Navigation
  J. Gowdy, A. Stentz, and M. Hebert
  Proceedings of SPIE Symposium on Mobile Robots, 1990. [Abstract]
  Download: pdf [464 KB] copyrighted

• Neural network based autonomous navigation
  D. Pomerleau
  Vision and Navigation: The CMU Navlab, Charles Thorpe, ed., Kluwer Academic Publishers, 1990, pp. 83-92.

• Building and navigating maps of road scenes using an active sensor
  M. Hebert
  Proceedings of IEEE International Conference on Robotics and Automation (ICRA '89), May, 1989, pp. 1136 - 1143.
  Download: pdf [499 KB] copyrighted

• Carnegie Mellon Navlab Vision
  C. Thorpe and T. Kanade
  Proceedings of the 1989 DARPA Image Understanding Workshop, May, 1989.

• Explicit Models for Road Following
  K. Kluge and C. Thorpe
  Proceedings of IEEE Conference on Robotics and Automation (ICRA '89), Vol. 2, May, 1989, pp. 1148 -1154. [Abstract]
  Download: pdf [559 KB] copyrighted

• ALVINN: An Autonomous Land Vehicle In a Neural Network
  D. Pomerleau
  Advances in Neural Information Processing Systems 1, Morgan Kaufmann, 1989.

• Color Vision for Road Following
  J. Crisman and C. Thorpe
  Proceedings of SPIE Conference on Mobile Robots, November, 1988. [Abstract]
  Download: pdf [270 KB] copyrighted

• Vision and navigation for the Carnegie-Mellon Navlab
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 10, No. 3, May, 1988, pp. 362 - 373. [Abstract]
  Download: pdf [1568 KB] copyrighted

• 3-D Vision for Outdoor Navigation by an Autonomous Vehicle
  M. Hebert and T. Kanade
  Proceedings of the 1988 DARPA Image Understanding Workshop, April, 1988, pp. 593-601. [Abstract]
  Download: pdf [620 KB] copyrighted

• The CMU Navigational Architecture
  A. Stentz and Y. Goto
  Proceedings of the DARPA Image Understanding Workshop, February, 1987.

• Mobile Robot Navigation: The CMU System
  Y. Goto and A. Stentz
  IEEE Expert, Vol. 2, No. 4, 1987, pp. 44 - 55.
  Download: pdf [240 KB] copyrighted

• Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles
  B. Krogh and C. Thorpe
  Proceedings of 1986 IEEE International Conference on Robotics and Automation (ICRA '86), April, 1986, pp. 1664 - 1669. [Abstract]
  Download: pdf [546 KB] copyrighted

• Outdoor Scene Analysis Using Range Data
  M. Hebert and T. Kanade
  Proc. 1986 IEEE International Conference on Robotics and Automation, Vol. 3, April, 1986, pp. 1426-1432. [Abstract]
  Download: pdf [523 KB] copyrighted

• First Results on Outdoor Scene Analysis Using Range Data
  M. Hebert and T. Kanade
  Proceedings of the 1985 DARPA Image Understanding Workshop, 1985, pp. 224-231.

• Sensor Fusion of Range and Reflectance Data for Outdoor Scene Analysis
  I. Kweon, M. Hebert, and T. Kanade
  1985. [Abstract]
  Download: pdf [678 KB] copyrighted

• Vision and Navigation for the Carnegie Mellon Navlab
  C. Thorpe and T. Kanade
  Proceedings of the 1985 DARPA Image Understanding Workshop, 1985, pp. 143-152.