Toward Autonomous Driving: The CMU Navlab. Part I: Perception

Chuck Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer
IEEE Expert, Vol. 6, No. 4, August, 1991, pp. 31 - 42.


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Abstract
The Navlab project, which seeks to build an autonomous robot that can operate in a realistic environment with bad weather, bad lighting, and bad or changing roads, is discussed. The perception techniques developed for the Navlab include road-following techniques using color classification and neural nets. These are discussed with reference to three road-following systems, SCARF, YARF, and ALVINN. Three-dimensional perception using three types of terrain representation (obstacle maps, terrain feature maps, and high-resolution maps) is examined. It is noted that perception continues to be an obstacle in developing autonomous vehicles. This work is part of the Defense Advanced Research Project Agency. Strategic Computing Initiative.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center
Associated Lab(s) / Group(s): NavLab

Text Reference
Chuck Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer, "Toward Autonomous Driving: The CMU Navlab. Part I: Perception," IEEE Expert, Vol. 6, No. 4, August, 1991, pp. 31 - 42.

BibTeX Reference
@article{Thorpe_1991_1622,
   author = "Chuck Thorpe and Martial Hebert and Takeo Kanade and Steven Shafer",
   title = "Toward Autonomous Driving: The CMU Navlab. Part I: Perception",
   journal = "IEEE Expert",
   pages = "31 - 42",
   month = "August",
   year = "1991",
   volume = "6",
   number = "4",
}