The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

AURORA is a vision-based system designed to warn a vehicle driver of psosible impending roadway departure accidents. It employs a downward looking color video camera with a wide angle lens, a digitizer, and a portable Sun Sparc workstation. Using a binormalized adjustable template correlation algorithm, it reliably detects lane markers on structured roads at 60 Hz. A time-to-lane-crossing (TLC) measurement is calculated for each image based on the estimation of the vehicle's lateral position and velocity. This measurement is used to trigger an alarm when the TLC falls below a preset threshold. Promising results have been achieved under a variety of weather and lighting conditions, on many road types.

Notes

Sponsor: NHTSA

Grant ID: DTNH22-93-c-07023

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

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

Associated Project(s): AUtomotive Run-Off-Road Avoidance system

Number of pages: 22

Text Reference

Mei Chen, Todd Jochem, and Dean Pomerleau, "AURORA: A Vision-Based Roadway Departure Warning System," tech. report CMU-RI-TR-97-21, Robotics Institute, Carnegie Mellon University, May, 1997

BibTeX Reference

@techreport{Chen_1997_446,
   author = "Mei Chen and Todd Jochem and Dean Pomerleau",
   title = "AURORA: A Vision-Based Roadway Departure Warning System",
   booktitle = "",
   institution = "Robotics Institute",
   month = "May",
   year = "1997",
   number= "CMU-RI-TR-97-21",
   address= "Pittsburgh, PA",
}

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