Chuck Thorpe, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Mel Siegel, Arne Suppe, Chieh-Chih Wang, and Teruko Yata
Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, April, 2002.
|Intelligent vehicles are beginning to appear on the market, but so far their sensing and warning functions only work on the open road. Functions such as run-off-road warning or adaptive cruise control are de-signed for the uncluttered environments of open high-ways.
We are working on the much more difficult problem of sensing and driver interfaces for driving in urban ar-eas. We need to sense cars and pedestrians and curbs and fire plugs and bicycles and lamp posts; we need to predict the paths of our own vehicle and of other moving objects; and we need to decide when to issue alerts or warnings to both the driver of our own vehi-cle and (potentially) to nearby pedestrians.
No single sensor is currently able to detect and track all relevant objects. We are working with radar, ladar, stereo vision, and a novel light-stripe range sensor. We have installed a subset of these sen-sors on a city bus, driving through the streets of Pitts-burgh on its normal runs. We are using different kinds of data fusion for different subsets of sensors, plus a coordinating framework for mapping objects at an abstract level.
Associated Center(s) / Consortia:
Vision and Autonomous Systems Center and Field Robotics Center
Associated Lab(s) / Group(s): NavLab
Associated Project(s): Tactical Mobile Robotics, Simultaneous Localization and Mapping with Detection, Tracking, and Classification of Moving Objects, Side Collision Warning System for Transit Buses, CTA Robotics
|Chuck Thorpe, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Mel Siegel, Arne Suppe, Chieh-Chih Wang, and Teruko Yata, "Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance," Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, April, 2002.|
author = "Chuck Thorpe and David Duggins and Jay Gowdy and Robert MacLachlan and Christoph Mertz and Mel Siegel and Arne Suppe and Chieh-Chih Wang and Teruko Yata",
title = "Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance",
booktitle = "Proceedings of SPIE: Unmanned Ground Vehicle Technology IV",
month = "April",
year = "2002",
volume = "4715",
|The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.|
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