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AUtomotive Run-Off-Road Avoidance system (AURORA)
This project is no longer active.

Head: Dean Pomerleau
Contact: Mei Chen

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: VASC
Associated lab/group: NavLab

Aurora employs a downward looking vision system consisting of a color video camera with a wide angle lens, a digitizer, and a Sun Sparc portable workstation.

By applying a novel template correlation method, it is able to reliably track lane markers on the road at 60 Hz and estimate the vehicle lateral displacement within an average absolute error of 0.8cm.

Based on this estimation, the time to lane crossing is calculated for each image field, triggering a warning alarm when it falls below a threshold.

Currently there are three warning modalities: visual, audible, and haptic (vibrating the steering wheel).

Name - Title <Email Address>
• [Home] Mei Chen - PhD Student, RI
• Todd Jochem - Systems Scientist <tjochem@foster-miller.com>
• Dean Pomerleau - Adjunct Research Scientist (Adjunct) <deanp@assistware.com>

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

• 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

• 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