Carnegie Mellon University
Pixel-Based Processing for Autonomous Driving

Martial Hebert
Proc. International Conference on Robotics and Automation, May, 1994.

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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.

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