The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Panacea is a modular system which incorporates a steerable sensor into an existing neural network driving system, ALVINN. A fixed camera cannot see the road when it makes sharp bends. For a vision system the builds a map of the road, it is straightforward to point the camera down the road; but ALVINN directly outputs a steering command without generating an intermediate road representation. Insight from the training scheme used in ALVINN, however, provides an interpretation of the steering command in terms of the road geometry and appropriate camera pointing strategies. Tests on the Carnegie Mellon Navlab II with a steerable camera have shown that the system significantly improves ALVINN's performance, particularly in situations requiring sharp turns and quick responses.

Notes

Sponsor: DARPA

Grant ID: DACA76-89-C-0014, DAAE07-90-C-R059

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

Associated Lab(s) / Group(s): NavLab

Associated Project(s): Active Sensor Control for Neural Net Lane Tracking and Autonomous Land Vehicle In a Neural Network

Number of pages: 8

Text Reference

Rahul Sukthankar, Dean Pomerleau, and Chuck Thorpe, "Panacea: An Active Sensor Controller for the ALVINN Autonomous Driving System," tech. report CMU-RI-TR-93-09, Robotics Institute, Carnegie Mellon University, April, 1993

BibTeX Reference

@techreport{Sukthankar_1993_300,
   author = "Rahul Sukthankar and Dean Pomerleau and Chuck Thorpe",
   title = "Panacea: An Active Sensor Controller for the ALVINN Autonomous Driving System",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "1993",
   number= "CMU-RI-TR-93-09",
   address= "Pittsburgh, PA",
}

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