The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

We describe a pixel-based approach to range processing for obstacle detection and autonomous driving as an alternative to the traditional image- or map-based appmches. The pixel-based approach eliminates the delays due to image acquisition and map building and permits the integration of traversability evaluation and path generation into a single module without the latency involved in distributed systems. We describe the algorithm used for updating a local map using individual range pixels, for detecting obstacles on the fly, and for generating steering commands. We illustrate the performance of the algorithm using an implementation of a cross-country driving system using a scanning laser range finder.

Notes

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

Text Reference

Martial Hebert, "Pixel-Based Processing for Autonomous Driving," Proc. International Conference on Robotics and Automation, May, 1994.

BibTeX Reference

@inproceedings{Hebert_1994_1666,
   author = "Martial Hebert",
   title = "Pixel-Based Processing for Autonomous Driving",
   booktitle = "Proc. International Conference on Robotics and Automation",
   month = "May",
   year = "1994",
}

The Robotics Institute

Menu