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Publications, Transit Bus Collision Warning Systems

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

• 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

• 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

• 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

• 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

• 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

• 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

• 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

• 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

• 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

• 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

• 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

• 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

• 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