- Moving object detection with laser scanners
Christoph Mertz, Luis Ernesto Navarro-Serment, David Duggins, Jay Gowdy, Robert MacLachlan, Paul Rybski, Aaron Steinfeld, Arne Suppe, Christopher Urmson, Nicolas Vandapel, Martial Hebert, and Chuck Thorpe
Journal of Field Robotics, Vol. 30, No. 1, January, 2013, pp. 17 - 43.
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- Exploiting Publicly Available Cartographic Resources for
Aerial Image Analysis
Young-Woo Seo, Christopher Urmson, and David Wettergreen
Proceedings of International Conference on Advances in Geographic Information Systems (ACM SIGSPATIAL GIS 2012), November, 2012, pp. 109-118.
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pdf (4MB) | Copyrighted
- Ortho-Image Analysis for Producing Lane-Level Highway
Maps
Young-Woo Seo, Christopher Urmson, and David Wettergreen
International Conference on Advances in Geographic Information Systems (ACM SIGSPATIAL GIS 2012), November, 2012, pp. 506-509.
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pdf (849KB) | Copyrighted
- Ortho-Image Analysis for Producing Lane-Level Highway Maps
Young-Woo Seo, Christopher Urmson, and David Wettergreen
tech. report CMU-RI-TR-12-26, Robotics Institute, Carnegie Mellon University, September, 2012
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pdf (3MB) | Copyrighted
- Motion Planning for Autonomous Driving with a Conformal
Spatiotemporal Lattice
Matthew McNaughton, Christopher Urmson, John M. Dolan, and Jin-Woo Lee
Proceedings of the International Conference on Robotics and Automation, May, 2011, pp. 4889-4895.
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pdf (443KB) | Copyrighted
- FAHR: Focused A* Heuristic Recomputation
Matthew McNaughton and Christopher Urmson
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, March, 2011, pp. 4893 -4898.
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pdf (460KB) | Copyrighted
- Adapting to Intra-Class Variations using Incremental Retraining with Exploratory Sampling
Young-Woo Seo, Christopher Urmson, David Wettergreen, and Rahul Sukthankar
tech. report CMU-RI-TR-10-36, Robotics Institute, Carnegie Mellon University, October, 2010
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pdf (507KB) | Copyrighted
- Building lane-graphs for autonomous parking
Young-Woo Seo, Christopher Urmson, David Wettergreen, and Jin-Woo Lee
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-10), October, 2010, pp. 6052-6057.
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- Augmenting cartographic resources for autonomous driving
Young-Woo Seo, Christopher Urmson, David Wettergreen, and Jin-Woo Lee
Proceedings of ACM SIGSPATIAL International Conference on Advances in Geographic Information Systems (GIS-2009), November, 2009, pp. 13-22.
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pdf (736KB) | Copyrighted
- Utilizing prior information to enhance self-supervised aerial image analysis for extracting parking lot structures
Young-Woo Seo and Christopher Urmson
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2009, pp. 339-344.
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pdf (753KB) | Copyrighted
- Obstacle Detection and Tracking for the Urban Challenge
Michael Darms, Paul Rybski, Christopher R. Baker , and Christopher Urmson
IEEE Transactions on Intelligent Transportation Systems, Vol. 10, No. 3, September, 2009, pp. 475-485.
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pdf (378KB) | Copyrighted
- Self-supervised aerial image analysis for extracting parking lot structure
Young-Woo Seo, Nathan Ratliff, and Christopher Urmson
Proceedings of International Joint Conference on Artificial Intelligence (IJCAI-09), July, 2009.
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- Autonomous Driving in Traffic:
Boss and the Urban Challenge
Christopher Urmson, Christopher R. Baker , John M. Dolan, Paul Rybski, Bryan Salesky, William (Red) L. Whittaker, David Ferguson, and Michael Darms
AI Magazine, Vol. 30, No. 2, June, 2009, pp. 17-29.
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pdf (6MB) | Copyrighted
- A Hierarchical Image Analysis for Extracting Parking Lot Structures from Aerial Images
Young-Woo Seo and Christopher Urmson
tech. report CMU-RI-TR-09-03, Robotics Institute, Carnegie Mellon University, January, 2009
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pdf (2MB) | Copyrighted
- Software Infrastructure for an Autonomous Ground Vehicle
Matthew McNaughton, Christopher R. Baker , Tugrul Galatali, Bryan Salesky, Christopher Urmson, and Jason Ziglar
Journal of Aerospace Computing, Information, and Communication, Vol. 5, No. 12, December, 2008, pp. 491 - 505.
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pdf (899KB) | Copyrighted
- A Multisensor Multiobject Tracking System for an Autonomous Vehicle Driving in an Urban Environment
Michael Darms, Paul Rybski, and Christopher Urmson
AVEC 2008 - 9th International Symposium on Advanced Vehicle Control, September, 2008.
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pdf (2MB) | Copyrighted
- A perception mechanism for supporting autonomous intersection handling in urban driving
Young-Woo Seo and Christopher Urmson
Proceedings of IEEE International Conference Intelligent Robots and Systems, September, 2008.
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pdf (458KB) | Copyrighted
- Autonomous driving in urban environments: Boss and the Urban Challenge
Christopher Urmson, Joshua Anhalt, Hong Bae, J. Andrew (Drew) Bagnell, Christopher R. Baker , Robert E. Bittner, Thomas Brown, M. N. Clark, Michael Darms, Daniel Demitrish, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Christopher M. Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Sascha Kolski, Maxim Likhachev, Bakhtiar Litkouhi, Alonzo Kelly, Matthew McNaughton, Nick Miller, Jim Nickolaou, Kevin Peterson, Brian Pilnick, Raj Rajkumar, Paul Rybski, Varsha Sadekar, Bryan Salesky, Young-Woo Seo, Sanjiv Singh, Jarrod M. Snider, Joshua C. Struble, Anthony (Tony) Stentz, Michael Taylor , William (Red) L. Whittaker, Ziv Wolkowicki, Wende Zhang, and Jason Ziglar
Journal of Field Robotics Special Issue on the 2007 DARPA Urban Challenge, Part I, Vol. 25, No. 8, June, 2008, pp. 425-466.
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pdf (1MB) | Copyrighted
- Classification and tracking of dynamic objects with multiple
sensors for autonomous driving in urban environments.
Michael Darms, Paul Rybski, and Christopher Urmson
Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, June, 2008, pp. 1197-1202.
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pdf (530KB) | Copyrighted
- Detection, Prediction, and Avoidance of Dynamic Obstacles in Urban Environments
David Ferguson, Michael Darms, Christopher Urmson, and Sascha Kolski
Proceedings of the 2008 IEEE Intelligent Vehicles Symposium, June, 2008, pp. 1149-1154.
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- Self-Driving Cars and the Urban Challenge
Christopher Urmson and William (Red) L. Whittaker
IEEE Intelligent Systems, Vol. 23, No. 2, April, 2008, pp. 66-68.
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- An adaptive model switching approach for a multisensor tracking system used for autonomous driving in an urban environment
Michael Darms, Paul Rybski, and Christopher Urmson
AUTOREG 2008, Steuerung und Regelung von Fahrzeugen und Motoren: 4. Fachtagung, February, 2008, pp. 521-530.
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pdf (2MB) | Copyrighted
- Vehicle detection and tracking for the Urban Challenge
Michael Darms, Christopher R. Baker , Paul Rybski, and Christopher Urmson
5. Workshop Fahrerassistenzsysteme, M. Maurer & C. Stiller, ed., Freundeskreis Mess- und Regelungstechnik Karlsruhe e.V. (FMRT), Karlsruhe, 2008, pp. 57-67.
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- Tartan Racing: A Multi-Modal Approach to the DARPA Urban
Challenge
Christopher Urmson, Joshua Anhalt, J. Andrew (Drew) Bagnell, Christopher R. Baker , Robert E. Bittner, John M. Dolan, David Duggins, David Ferguson, Tugrul Galatali, Hartmut Geyer, Michele Gittleman, Sam Harbaugh, Martial Hebert, Thomas Howard, Alonzo Kelly, David Kohanbash, Maxim Likhachev, Nick Miller, Kevin Peterson, Raj Rajkumar, Paul Rybski, Bryan Salesky, Sebastian Scherer, Young-Woo Seo, Reid Simmons, Sanjiv Singh, Jarrod M. Snider, Anthony (Tony) Stentz, William (Red) L. Whittaker, and Jason Ziglar
tech. report CMU-RI-TR-, Robotics Institute, Carnegie Mellon University, April, 2007
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- A Robust Approach to High-Speed Navigation for Unrehearsed Desert Terrain
Christopher Urmson, Joshua Anhalt, Daniel Bartz, Michael Clark, Tugrul Galatali, Alexander Gutierrez, Sam Harbaugh, Joshua Johnston, Hiroki Kato, Phillip L. Koon, William Messner, Nick Miller, Aaron Mosher, Kevin Peterson, Charlie Ragusa, David Ray, Bryon K. Smith, Jarrod M. Snider, Spencer Spiker, Joshua C. Struble, Jason Ziglar, and William (Red) L. Whittaker
Journal of Field Robotics, Vol. 23, No. 8, August, 2006, pp. 467-508.
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- Preplanning for high performance autonomous traverse of desert terrain exploiting a priori knowledge to optimize speeds and to detail paths
Alexander Gutierrez, Tugrul Galatali, Juan Pablo Gonzalez, Christopher Urmson, and William (Red) L. Whittaker
tech. report CMU-RI-TR-05-54, Robotics Institute, Carnegie Mellon University, December, 2005
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pdf (19MB) | Copyrighted
- Navigation Regimes for Off-Road Autonomy
Christopher Urmson
doctoral dissertation, tech. report CMU-RI-TR-05-23, Robotics Institute, Carnegie Mellon University, May, 2005
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pdf (11MB) | Copyrighted
- First Experiments in the Robotic Investigation of Life in the Atacama Desert of Chile
David Wettergreen, Nathalie Cabrol, James Teza, Paul Tompkins, Christopher Urmson, Vandi Verma, Michael D. Wagner, and William (Red) L. Whittaker
International Conference on Robotics and Automation, April, 2005.
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pdf (526KB) | Copyrighted
- Sun-Synchronous Robotic Exploration: Technical Description and Field Experimentation
David Wettergreen, Paul Tompkins, Christopher Urmson, Michael D. Wagner, and William (Red) L. Whittaker
The International Journal of Robotics Research, Vol. 24, No. 1, January, 2005, pp. 3-30.
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pdf (12MB) | Copyrighted
- High Speed Navigation of Unrehearsed Terrain:
Red Team Technology for Grand Challenge 2004
Christopher Urmson, Joshua Anhalt, Michael Clark, Tugrul Galatali, Juan Pablo Gonzalez, Jay Gowdy, Alexander Gutierrez, Sam Harbaugh, Matthew Johnson-Roberson, Hiroki Kato, Phillip L. Koon, Kevin Peterson, Bryon K. Smith, Spencer Spiker, Erick Tryzelaar, and William (Red) L. Whittaker
tech. report CMU-RI-TR-04-37, Robotics Institute, Carnegie Mellon University, June, 2004
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- Approaches for Heuristically Biasing RRT Growth
Christopher Urmson and Reid Simmons
IEEE/RSJ IROS 2003, October, 2003.
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pdf (153KB) | Copyrighted
- A Generic Framework for Robotic Navigation
Christopher Urmson, Reid Simmons, and Issa Nesnas
IEEE Aerospace Conference 2003, March, 2003.
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pdf (749KB) | Copyrighted
- Stereo Vision Based Navigation for Sun-Synchronous Exploration
Christopher Urmson, M Bernardine Dias, and Reid Simmons
Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002, pp. 805 - 810.
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pdf (1MB) | Copyrighted
- First Experiment in Sun-Synchronous Exploration
David Wettergreen, M Bernardine Dias, Benjamin Shamah, James Teza, Paul Tompkins, Christopher Urmson, Michael D. Wagner, and William (Red) L. Whittaker
International Conference on Robotics and Automation, May, 2002, pp. 3501-3507.
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pdf (1MB) | Copyrighted
- Principles of Computer System Design for Stereo Perception
Michael D. Wagner, David O'Hallaron, Dimitrios (Dimi) Apostolopoulos, and Christopher Urmson
tech. report CMU-RI-TR-02-01, Robotics Institute, Carnegie Mellon University, January, 2002
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- A Sensor Arm for Robotic Antarctic Meteorite Search
Christopher Urmson, Benjamin Shamah, James Teza, Michael D. Wagner, Dimitrios (Dimi) Apostolopoulos, and William (Red) L. Whittaker
Proceedings of the 3rd International Conference on Field and Service Robotics, July, 2001.
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pdf (384KB) | Copyrighted
- Skyworker: a robot for assembly, inspection and maintenance of large scale orbital facilities
Peter Staritz, Sarjoun Skaff, Christopher Urmson, and William (Red) L. Whittaker
Proceedings of the 2001 IEEE International
Conference on Robotics and Automation (ICRA '01), May, 2001, pp. 4180 - 4185.
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pdf (465KB) | Copyrighted
- Robotics for Assembly, Inspection, and Maintenance of Space Macrofacilities
William (Red) L. Whittaker, Christopher Urmson, Peter Staritz, Brett Kennedy, and Rob Ambrose
AIAA Space 2000 Conference and Exposition, September, 2000.
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pdf (331KB) | Copyrighted
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