Graphics enhanced version of this site

Publications, Chuck Thorpe

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

• Intelligent Diabetes Assistant: Using Telemedicine to Assist Diabetes Management
  D. Duke, C. Thorpe, and M. Mahmoud
  International Conference on Innovations in Information Technology, November, 2007.

• Robust Real-Time Local Laser Scanner Registration with Uncertainty Estimation
  J.D. Carlson, C. Thorpe, and D. Duke
  International Conference on Field and Service Robotics, July, 2007. [Abstract]
  Download: pdf [488 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

• Robotics in Early Undergraduate Education
  D. Duke, J.D. Carlson, and C. Thorpe
  AAAI Symposium on Robotics in AI and CS Education, March, 2007. [Abstract]

• 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

• 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

• 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

• 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

• PdaDriver: A Handheld System for Remote Driving
  T.W. Fong, C. Thorpe, and B. Glass
  IEEE International Conference on Advanced Robotics 2003, IEEE, July, 2003. [Abstract]
  Download: pdf [1951 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

• Multi-Robot Remote Driving with Collaborative Control
  T.W. Fong, C. Thorpe, and C. Baur
  IEEE Transactions on Industrial Electronics, 2003. [Abstract]
  Download: pdf [626 KB] copyrighted

• Robot, Asker of Questions
  T.W. Fong, C. Thorpe, and C. Baur
  Robotics and Autonomous Systems, 2003. [Abstract]
  Download: pdf [222 KB] copyrighted

• 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

• 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

• Collaboration, Dialogue, and Human-Robot Interaction
  T.W. Fong, C. Thorpe, and C. Baur
  Proceedings of the 10th International Symposium of Robotics Research, Lorne, Victoria, Australia, Springer-Verlag, London, November, 2001. [Abstract]
  Download: pdf [881 KB] copyrighted

• Field Robots
  C. Thorpe and H. Durrant-Whyte
  Proceedings of the 10th International Symposium of Robotics Research, Lorne, Victoria, Australia, Springer-Verlag, London, November, 2001. [Abstract]
  Download: pdf [823 KB], ps.gz [1670 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]

• Multi-robot remote driving with collaborative control
  T.W. Fong, S. Grange, C. Thorpe, and C. Baur
  10th IEEE International Workshop on Robot-Human Interactive Communication, Bordeaux and Paris, France, September, 2001. [Abstract]
  Download: pdf [550 KB] copyrighted

• A Safeguarded Teleoperation Controller
  T.W. Fong, C. Thorpe, and C. Baur
  IEEE International Conference on Advanced Robotics 2001, Budapest, Hungary, August, 2001. [Abstract]
  Download: pdf [346 KB] copyrighted

• Advanced Interfaces for Vehicle Teleoperation: Collaborative Control, Sensor Fusion Displays, and Remote Driving Tools
  T.W. Fong, C. Thorpe, and C. Baur
  Autonomous Robots, Vol. 11, No. 1, July, 2001, pp. 77-85. [Abstract]
  Download: pdf [1125 KB] copyrighted

• Vehicle Teleoperation Interfaces
  T.W. Fong and C. Thorpe
  Autonomous Robots, Vol. 11, No. 1, July, 2001, pp. 09-18. [Abstract]
  Download: pdf [2294 KB] copyrighted

• A Personal User Interface for Collaborative Human-Robot Exploration
  T.W. Fong, N. Cabrol, C. Thorpe, and C. Baur
  International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Montréal, Canada, June, 2001. [Abstract]
  Download: pdf [643 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

• Active Interfaces for Vehicle Teleoperation
  T.W. Fong, C. Thorpe, and C. Baur
  SPIE Robotics and Machine Perception Working Group, Vol. 10, No. 1, March, 2001.
  Download: pdf [243 KB] copyrighted

• Benefits Estimation of Sensor-Friendly Vehicle and Roadway Cooperative Safety Systems
  J. Misener, C. Thorpe, R. Ferlis, R. Hearne, M. Siegel, and J. Perkowski
  March, 2001. [Abstract]
  Download: pdf [106 KB] copyrighted

• Feature Correspondence: A Markov Chain Monte Carlo Approach
  F. Dellaert, S. Seitz, C. Thorpe, and S. Thrun
  Advances in Neural Information Processing Systems 13 (NIPS 2000), 2001. [Abstract]
  Download: pdf [191 KB], ps.gz [109 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

• Step Detection by Sonar
  T. Yata and C. Thorpe
  Proceedings of the 18th Annual Conference of the Robotics Society of Japan, September, 2000, pp. 1325-1326. [Abstract]

• 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

• Remote Driving With a Multisensor User Interface
  G. Terrien, T.W. Fong, C. Thorpe, and C. Baur
  SAE 30th International Conference on Environmental Systems, July, 2000. [Abstract]
  Download: pdf [1872 KB] copyrighted

• Structure from Motion without Correspondence
  F. Dellaert, S. Seitz, C. Thorpe, and S. Thrun
  IEEE Computer Society Conference on Computer Vision and Pattern Recognition ( CVPR'00 ), June, 2000. [Abstract]
  Download: pdf [514 KB], ps.gz [1003 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

• Structure from Motion without Correspondence
  F. Dellaert, S. Seitz, C. Thorpe, and S. Thrun
  tech. report CMU-RI-TR-99-44, Robotics Institute, Carnegie Mellon University, December, 1999. [Abstract]
  Download: pdf [1013 KB], ps.gz [1458 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

• Sensor Fusion Based User Interface for Vehicle Teleoperation
  R. Meier, T.W. Fong, C. Thorpe, and C. Baur
  International Conference on Field and Service Robotics (FSR '99), August, 1999. [Abstract]
  Download: pdf [814 KB] copyrighted

• Collaborative Control: A Robot-Centric Model for Vehicle Teleoperation
  T.W. Fong, C. Thorpe, and C. Baur
  AAAI 1999 Spring Symposium: Agents with Adjustable Autonomy, March, 1999. [Abstract]
  Download: pdf [202 KB] copyrighted

• Mosaicing a Large Number of Widely Dispersed, Noisy, and Distorted Images: A Bayesian Approach
  F. Dellaert, S. Thrun, and C. Thorpe
  tech. report CMU-RI-TR-99-34, Robotics Institute, Carnegie Mellon University, March, 1999. [Abstract]
  Download: pdf [178 KB], ps.gz [764 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

• Enhancing Driver-Assist Sensors: Background and Concepts for Sensor-Friendly Vehicles and Roadways
  J. Misener, C. Thorpe, R. Hearne, L. Johnson, and A. Segal
  1999. [Abstract]
  Download: pdf [324 KB], ps.gz [3514 KB] copyrighted

• Precision 3-D Modeling for Autonomous Helicopter Flight
  J.R. Miller, O. Amidi, C. Thorpe, and T. Kanade
  Proceedings of International Symposium of Robotics Research (ISRR), 1999.

• Jacobian Images of Super-Resolved Texture Maps for Model-Based Motion Estimation and Tracking
  F. Dellaert, S. Thrun, and C. Thorpe
  IEEE Workshop on Applications of Computer Vision (WACV'98), IEEE Computer Society, Princeton, NJ, October, 1998, pp. 2-7. [Abstract]
  Download: pdf [262 KB], ps.gz [798 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

• Super-Resolved Texture Tracking of Planar Surface Patches
  F. Dellaert, C. Thorpe, and S. Thrun
  IEEE/RSJ International Conference on Intelligent Robotic Systems, October, 1998. [Abstract]
  Download: pdf [482 KB], ps.gz [1283 KB] copyrighted

• Mobility Planning for Autonomous Navigation of Multiple Robots in Unstructured Environments
  M. Hebert, A. Stentz, and C. Thorpe
  Proceedings of ISIC/CIRA/ISAS Joint Conference on the Science and Technology of Intelligent Systems, September, 1998, pp. 652 - 657. [Abstract]
  Download: pdf [638 KB] copyrighted

• A Specialized Multibaseline Stereo Technique for Obstacle Detection
  T. Williamson and C. Thorpe
  Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, June, 1998. [Abstract]
  Download: pdf [140 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

• 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

• Detection of Small Obstacles at Long Range Using Multibaseline Stereo
  T. Williamson and C. Thorpe
  Proceedings of the 1998 IEEE International Conference on Intelligent Vehicles, 1998. [Abstract]
  Download: pdf [529 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

• Mobile Robots and Smart Cars
  C. Thorpe
  First International Conference on Field and Service Robotics, December, 1997.

• 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

• 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

• Functional Sensor Modeling for Automated Highway System Simulations
  C. Unsal, R. Sukthankar, and C. Thorpe
  SPIE on Intelligent Systems & Advanced Manufacturing, Vol. 3207, October, 1997.
  Download: pdf [126 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

• A Hybrid Human-Computer Autonomous Vehicle Architecture
  M. Bayouth, I. Nourbakhsh, and C. Thorpe
  Third ECPD International Conference on Advanced Robotics, Intelligent Automation and Control, 1997.
  Download: pdf [56 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

• Intelligent Unmanned Ground Vehicles: Autonomous Navigation Research at Carnegie Mellon
  M. Hebert, C. Thorpe, and A. Stentz
  KluwerAcademic Publishers, 1997.

• 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

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

• 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

• Developing Planning and Reactive Control for a Hexapod Robot
  D. Wettergreen and C. Thorpe
  Proceedings of ICRA '96, Vol. 3, April, 1996, pp. 2718 - 2723. [Abstract]
  Download: pdf [292 KB] copyrighted

• Mobile Robotics: Perspectives and Realities
  C. Thorpe and M. Hebert
  proceedings of International Workshop on Advanced Robotics and Intelligent Machines, April, 1996.

• 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

• 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

• 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

• 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

• 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

• 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

• 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.

• Machine Learning and Human Interface for the CMU Navlab
  C. Thorpe
  Proc. IEEE Conference on Computer Vision for Space Applications, September, 1993.

• 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

• 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

• Exploring Mount Erebus by Walking Robot
  D. Wettergreen, C. Thorpe, and W.L. Whittaker
  Robotics and Autonomous Systems, 1993.
  Download: pdf [893 KB] copyrighted

• Exploring Mount Erebus by Walking Robot
  D. Wettergreen, C. Thorpe, and W.L. Whittaker
  International Conference of Intelligent Autonomous Systems, 1993, pp. pp72-81.
  Download: pdf [893 KB] copyrighted

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

• 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

• Supervised Telerobotics Using Incremental Flat-Earth Geometry: STRIFE
  J. Kay and C. Thorpe
  Proceedings of IAS-3, 1993.

• Keynote Address: Point-Counterpoint: Big Robots VS Little Robots
  C. Thorpe
  21st Applied Imagery Pattern Recognition Workshop, October, 1992.

• 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

• Gait Generation for Legged Robots
  D. Wettergreen and C. Thorpe
  Proceedings of the IROS '92 Conference, Vol. 2, July, 1992, pp. 1413 - 1420.
  Download: pdf [515 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

• The New Generation System for the CMU Navlab
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  Vision-Based Vehicle Guidance, Ichiro Masaki, ed., Springer-Verlag, 1992.

• 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

• Some Approaches to Finding Birds in Video Imagery
  P.E. Allen and C. Thorpe
  tech. report CMU-RI-TR-91-34, Robotics Institute, Carnegie Mellon University, December, 1991. [Abstract]
  Download: pdf [1144 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.

• Mobile Robots
  C. Thorpe
  International Journal of Pattern Recognition and Artificial Intelligence, Vol. 5, No. 3, August, 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

• 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

• Navlab 90: Neighborhood Navigation
  C. Thorpe
  Refereed Video Proceedings of IEEE International Conference on Robotics and Automation, 1991.

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

• Annotated maps for autonomous land vehicles
  C. Thorpe and J. Gowdy
  Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, November, 1990, pp. 282 - 288. [Abstract]
  Download: pdf [676 KB] copyrighted

• 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

• Planning Strategies for the Ambler Walking Robot
  D. Wettergreen, H. Thomas, and C. Thorpe
  Proceedings of the 1990 IEEE International Conference on Systems Engineering, August, 1990, pp. 198 - 203. [Abstract]
  Download: pdf [679 KB] copyrighted

• Single Leg Walking with Integrated Perception, Planning, and Control
  E. Krotkov, R. Simmons, and C. Thorpe
  Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Vol. 1, July, 1990, pp. 97 - 102. [Abstract]
  Download: pdf [547 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

• Annotated Maps for Autonomous Land Vehicles
  C. Thorpe and J. Gowdy
  Proceedings of DARPA Image Understanding Workshop, 1990.

• 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

• Simulation of the Ambler Environment
  H. Thomas, D. Wettergreen, and C. Thorpe
  Proceedings of 23rd Pittsburgh Conference on Modeling and Simulation, 1990.

• Vision and Navigation: the Carnegie Mellon Navlab
  C. Thorpe
  Kluwer Academic Publishers, 1990.

• Against Complex Architectures
  A. Stentz and C. Thorpe
  Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology, June, 1989, pp. 308 - 311.
  Download: pdf [14 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

• Against Complex Architectures
  A. Stentz and C. Thorpe
  Proceedings of AAAI Spring Symposium Series, March, 1989.

• 1988 Year End Report for Road Following at Carnegie Mellon
  C. Thorpe and T. Kannade
  tech. report CMU-RI-TR-89-05, Robotics Institute, Carnegie Mellon University, February, 1989.
  Download: pdf [4801 KB] copyrighted

• 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

• 1987 Year End Report, Road Following at Carnegie Mellon
  C. Thorpe and T. Kanade
  tech. report CMU-RI-TR-88-04, Robotics Institute, Carnegie Mellon University, April, 1988.
  Download: pdf [8128 KB] copyrighted

• Geometric Camera Calibration Using Systems of Linear Equations
  K. Gremban, C. Thorpe, and T. Kanade
  Proceedings of the 1988 DARPA Image Understanding Workshop, April, 1988, pp. 820-825.
  Download: pdf [540 KB] copyrighted

• Geometric Camera Calibration using Systems of Linear Equations
  K. Gremban, C. Thorpe, and T. Kanade
  Proceedings of IEEE Conference on Robotics and Automation (ICRA '88), Vol. 1, April, 1988, pp. 562 - 567. [Abstract]
  Download: pdf [515 KB] copyrighted

• A Feasibility Study for Long Range Autonomous Underwater Vehicle
  M. Hebert, C. Thorpe, S. Dunn, J. Cushieri, P. Rushfeldt, W. Girodet, and P. Schweitzer
  Proceedings of Fifth International Symposium on Unmanned Untethered Submersible Technology, June, 1987, pp. 1-13.
  Download: pdf [485 KB] copyrighted

• 1986 Year End Report for Road Following at Carnegie Mellon
  C. Thorpe and T. Kanade
  tech. report CMU-RI-TR-87-11, Robotics Institute, Carnegie Mellon University, May, 1987.
  Download: pdf [3504 KB] copyrighted

• Book review: Robot Vision
  C. Thorpe
  American Scientist, May, 1987.

• Book review: Walking Machines: an Introduction to Legged Robots
  C. Thorpe
  American Scientist, March, 1987.

• Robotic Vehicles
  C. Thorpe
  Encyclopedia of Physical Science and Technology, 1987.

• Vision and Navigation for Carnegie Mellon Navlab
  C. Thorpe, M. Hebert, T. Kanade, and S. Shafer
  Annual Review of Computer Science, J. Traub, et. al, ed., Annual Reviews Inc., CA, Vol. 2, 1987, pp. 521-556.

• An Architecture for Sensor Fusion in a Mobile Robot
  S. Shafer, A. Stentz, and C. Thorpe
  tech. report CMU-RI-TR-86-09, Robotics Institute, Carnegie Mellon University, April, 1986.
  Download: pdf [1242 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

• Autonomous Land Vehicle Project at CMU
  T. Kanade, C. Thorpe, and W.L. Whittaker
  Proc. 1986 ACM Computer Conference, February, 1986.

• CMU Strategic Computing Vision Project Report: 1984-1985
  T. Kanade and C. Thorpe
  tech. report CMU-RI-TR-86-02, Robotics Institute, Carnegie Mellon University, November, 1985.
  Download: pdf [2529 KB] copyrighted

• Experiments and Thoughts on Visual Navigation
  C. Thorpe, L. Matthies, and H. Moravec
  Proceedings of 1985 IEEE International Conference on Robotics and Automation, Vol. 2, March, 1985, pp. 830 - 835. [Abstract]
  Download: pdf [507 KB] copyrighted

• Autonomous Mobile Robots, Annual Report
  H. Moravec, A. Elfes, C. Thorpe, L. Matthies, R.S. Wallace, P. Muir, D.H. Shin, and G. Podnar
  tech. report CMU-RI-TR-86-04, Robotics Institute, Carnegie Mellon University, February, 1985.
  Download: pdf [10391 KB] copyrighted

• An Architecture for Autonomous Vehicle Navigation
  A. Stentz and C. Thorpe
  Proceedings of the Fourth International Symposium on Unmanned Untethered Submersible Technology, 1985.

• First Results in Robot Road-Following
  R. Wallace, A. Stentz, C. Thorpe, H. Moravec, W.L. Whittaker, and T. Kanade
  Proceedings of the International Joint Conference on Artificial Intelligence, 1985.

• 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.

• FIDO: Vision and Navigation for a Mobile Robot
  C. Thorpe
  doctoral dissertation, Robotics Institute, Carnegie Mellon University, November, 1984.

• Experience with Visual Robot Navigation
  L.H. Matthies and C. Thorpe
  Proceedings of IEEE Oceans-84, Vol. 16, September, 1984, pp. 594 - 597. [Abstract]
  Download: pdf [396 KB] copyrighted

• Path Relaxation: Path Planning for a Mobile Robot
  L.H. Matthies and C. Thorpe
  Proceedings of IEEE Oceans-84, Vol. 16, September, 1984, pp. 576 - 581. [Abstract]
  Download: pdf [396 KB] copyrighted

• Path Relaxation: Path Planning for a Mobile Robot
  C. Thorpe
  tech. report CMU-RI-TR-84-05, Robotics Institute, Carnegie Mellon University, April, 1984.
  Download: pdf [958 KB] copyrighted

• An Analysis of Interest Operators for FIDO
  C. Thorpe
  tech. report CMU-RI-TR-83-19, Robotics Institute, Carnegie Mellon University, December, 1983. [Abstract]
  Download: pdf [2168 KB] copyrighted

• Correspondence in Line Drawings of Multiple Views of Objects
  C. Thorpe and S. Shafer
  Proceedings of IJCAI-83, August, 1983.

• Autonomous Vehicle Navigation: Smart Vehicle Simulator Version 1
  C. Thorpe and D. McKeown
  tech. report, Robotics Institute, Carnegie Mellon University, December, 1982.

• Underwater Landmark Identification
  C. Thorpe
  Proceedings of the Second International Computer Engineering Conference American Society of Mechanical Engineers, August, 1982.

• Sonar Image Processing: AN Application of Template Matching Through Relaxation
  C. Thorpe
  tech. report CMU-RI-TR-81-06, Robotics Institute, Carnegie Mellon University, October, 1981.
  Download: pdf [674 KB] copyrighted