Carnegie Mellon University
Autonomous Navigation of Structured City Roads

D. Aubert, K. Kluge, and Chuck Thorpe
Proceedings of SPIE Mobile Robots V, 1990.

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Autonomous road following is a domain which spans a range of complexity from poorly defined, unmarked dirt roads to well defined, well marked, highly structured highways. The YARF system (for Yet Another Road Follower) is designed to operate in the middle of this range of complexity, driving on urban streets. Our research program has focused on the use of feature- and situation-specific segmentation techniques driven by an explicit model of the appearance and geometry of the road features in the environment. We report results in robust detection of white and yellow painted stripes; fitting a road model to detected feature locations to determine vehicle position and local road geometry: and automatic location of road features in an initial image. We also describe our planned extensions to include intersection navigation.

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

Text Reference
D. Aubert, K. Kluge, and Chuck Thorpe, "Autonomous Navigation of Structured City Roads," Proceedings of SPIE Mobile Robots V, 1990.

BibTeX Reference
   author = "D. Aubert and K. Kluge and Chuck Thorpe",
   title = "Autonomous Navigation of Structured City Roads",
   booktitle = "Proceedings of SPIE Mobile Robots V",
   year = "1990",