Safe Robot Driving

Chuck Thorpe, Romuald Aufrere, Justin David Carlson, David Duggins, Terrence W. Fong, Jay Gowdy, John Kozar, Robert MacLachlan, Colin McCabe, Christoph Mertz, Arne Suppe, Chieh-Chih Wang, and Teruko Yata
Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002.


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Abstract
The Navlab group at Carnegie Mellon University has a long history of development of automated vehicles and intelligent systems for driver assistance. The earlier work of the group concentrated on road following, cross-country driving, and obstacle detection. The new focus is on short-range sensing, to look all around the vehicle for safe driving. The current system uses video sensing, laser rangefinders, a novel light-stripe rangefinder, software to process each sensor individually, and a map-based fusion system. The complete system has been demonstrated on the Navlab 11 vehicle for monitoring the environment of a vehicle driving through a cluttered urban environment, detecting and tracking fixed objects, moving objects, pedestrians, curbs, and roads.

Keywords
short range sensing, video, rangefinder, detecting and tracking

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Lab(s) / Group(s): NavLab
Associated Project(s): Simultaneous Localization and Mapping with Detection, Tracking, and Classification of Moving Objects, Side Collision Warning System for Transit Buses, CTA Robotics

Text Reference
Chuck Thorpe, Romuald Aufrere, Justin David Carlson, David Duggins, Terrence W. Fong, Jay Gowdy, John Kozar, Robert MacLachlan, Colin McCabe, Christoph Mertz, Arne Suppe, Chieh-Chih Wang, and Teruko Yata, "Safe Robot Driving," Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002.

BibTeX Reference
@inproceedings{Thorpe_2002_4057,
   author = "Chuck Thorpe and Romuald Aufrere and Justin David Carlson and David Duggins and Terrence W Fong and Jay Gowdy and John Kozar and Robert MacLachlan and Colin McCabe and Christoph Mertz and Arne Suppe and Chieh-Chih Wang and Teruko Yata",
   title = "Safe Robot Driving",
   booktitle = "Proceedings of the International Conference on Machine Automation (ICMA 2002)",
   month = "September",
   year = "2002",
}