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NavLab
Head: Martial Hebert
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
NSH B520
(412) 268 8696
Associated center(s) / consortia:
 Vision and Autonomous Systems Center (VASC)
This page last updated - April 2012.
Publications
  • Motivating Contribution in a Participatory Sensing System via Quid-Pro-Quo

    Anthony Tomasic, John Zimmerman, Aaron Steinfeld, and Yun Huang
    CSCW '14 Proceedings of the 17th ACM conference on Computer supported cooperative work & social computing, February, 2014, pp. 979-988.
    Details | pdf (2MB) | Copyrighted

  • Performance of a scanning laser line striper in outdoor lighting

    Christoph Mertz
    SPIE Defense, Security, and Sensing, conference 8741, May, 2013.
    Details | pdf (2MB) | Copyrighted

  • An Architecture for Online Semantic Labeling on UGVs

    Arne Suppe, Luis Ernesto Navarro-Serment, Daniel Munoz, Drew Bagnell, Arne Suppe, Luis Ernesto Navarro-Serment, Daniel Munoz, J. Andrew (Drew) Bagnell, and Martial Hebert
    Proc. SPIE 8741, Unmanned Systems Technology XV, April, 2013.
    Details | pdf (3MB) | Copyrighted

  • Moving object detection with laser scanners

    Christoph Mertz, Luis Ernesto Navarro-Serment, David Duggins, Jay Gowdy, Robert MacLachlan, Paul Rybski, Aaron Steinfeld, Arne Suppe, Christopher Urmson, Nicolas Vandapel, Martial Hebert, and Chuck Thorpe
    Journal of Field Robotics, Vol. 30, No. 1, January, 2013, pp. 17 - 43.
    Details | pdf (1MB) | Copyrighted

  • A low-power structured light sensor for outdoor scene reconstruction and dominant material identification

    Christoph Mertz, Sanjeev Jagannatha Koppal, Solomon Sia, and Srinivasa G. Narasimhan
    9th IEEE International Workshop on Projector–Camera Systems, June, 2012.
    Details | pdf (3MB) | Copyrighted

  • An assisted photography method for street scenes

    Marynel Vazquez and Aaron Steinfeld
    Proceedings of the IEEE Workshop on Applications of Computer Vision (WACV) 2011, January, 2011.
    Details | pdf (4MB) | Copyrighted

  • Continuous Road Damage Detection Using Regular Service Vehicles

    Christoph Mertz
    Proceedings of the ITS World Congress, October, 2011.
    Details | pdf (759KB) | Copyrighted

  • Understanding the space for co-design in riders' interactions with a transit service

    Daisy Yoo, John Zimmerman, Aaron Steinfeld, and Anthony Tomasic
    Proceedings of the Conference on Human Factors in Computing Systems (CHI), April, 2010.
    Details | pdf (471KB) | Copyrighted

  • Modality preference for rider reports on transit accessibility problems

    Aaron Steinfeld, Rafae Dar Aziz, Lauren Von Dehsen, Sun Young Park, Jordana Maisel, and Edward Steinfeld
    Transportation Research Board 2010 Annual Meeting, January, 2010.
    Details | pdf (1MB) | Copyrighted

  • The value of citizen science to promote transit accessibility

    Aaron Steinfeld, Jordana Maisel, and Edward Steinfeld
    First International Symposium on Quality of Life Technology, July, 2009.
    Details | pdf (85KB) | Copyrighted

  • Creating trustworthy robots: Lessons and inspirations from automated systems

    Munjal Desai, Kristen Stubbs, Aaron Steinfeld, and Holly Yanco
    Proceedings of the AISB Convention: New Frontiers in Human-Robot Interaction, April, 2009.
    Details | pdf (189KB) | Copyrighted

  • The Oz of Wizard: Simulating the Human for Interaction Research

    Aaron Steinfeld, Odest Chadwicke Jenkins, and Brian Scassellati
    ACM/IEEE International Conference on Human-Robot Interaction (HRI), March, 2009.
    Details | pdf (727KB) | Copyrighted

  • Proceedings of Metrics for Human-Robot Interaction, a Workshop at ACM/IEEE HRI 2008

    Catherina R. Burghart and Aaron Steinfeld
    March, 2008.
    Details | pdf (9MB) | Copyrighted

  • Simultaneous Localization, Mapping and Moving Object Tracking

    Chieh-Chih Wang, Chuck Thorpe, Martial Hebert, Sebastian Thrun, and H. Durrant-Whyte
    The International Journal of Robotics Research, Vol. 26, No. 6, June, 2007,
    Details | pdf (4MB) | Copyrighted

  • Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder

    Robert MacLachlan and Christoph Mertz
    Intelligent Transportation Systems 2006, September, 2006, pp. 301-306.
    Details | pdf (432KB) | Copyrighted

  • Toward Human-Robot Interface Standards II: An Examination of Common Elements in Human-Robot Interaction Across the Space Enterprise

    Jeffrey Ferketic, Loel Goldblatt, Edward Hodgson, Sean Murray, Robert Wichowski, Arthur Bradley, Terrence W. Fong, John Evans, Wendell Chun, Randy Stiles, Michael A. Goodrich, Aaron Steinfeld, Dan King, and Catherine Erkorkmaz
    AIAA Space 2006, September, 2006.
    Details | pdf (825KB) | Copyrighted

  • Learning and Predicting Moving Object Trajectory: a piecewise trajectory segment approach

    Pak Yan Choi and Martial Hebert
    tech. report CMU-RI-TR-06-42, Robotics Institute, Carnegie Mellon University, August, 2006
    Details | pdf (538KB) | Copyrighted

  • Toward Human-Robot Interface Standards I: Use of Standardization and Intelligent Subsystems for Advancing Human-Robotic Competency in Space Exploration

    Jeffrey Ferketic, Loel Goldblatt, Edward Hodgson, Sean Murray, Robert Wichowski, Arthur Bradley, Terrence W. Fong, John Evans, Wendell Chun, Randy Stiles, Michael Goodrich, and Aaron Steinfeld
    SAE 36th International Conference on Environmental Systems, July, 2006.
    Details | pdf (592KB) | Copyrighted

  • Integrated Collision Warning System Final Evaluation Report

    University of California PATH and Carnegie Mellon University RI
    FTA-PA-26-7006-06.1, May, 2006
    Details | pdf (4MB) | Copyrighted

  • Common Metrics for Human-Robot Interaction

    Aaron Steinfeld, Terrence W. Fong, David Kaber, , Jean Scholtz, Alan Schultz, and Michael Goodrich
    2006 Human-Robot Interaction Conference, March, 2006.
    Details | pdf (111KB) | Copyrighted

  • Human-robot interaction

    Aaron Steinfeld
    International Encyclopedia of Ergonomics and Human Factors, 2nd Edition, W. Karwowski, ed., Taylor & Francis, 2006
    Details

  • Accessibility and intelligent transportation systems

    Aaron Steinfeld
    Wheeled Mobility and Accessible Transportation 2003 Conference Proceedings, 2006, pp. 35-37.
    Details | pdf (853KB) | Copyrighted

  • Tracking Moving Objects From a Moving Vehicle Using a Laser Scanner

    Robert MacLachlan
    tech. report CMU-RI-TR-05-07, Robotics Institute, Carnegie Mellon University, June, 2005
    Details | pdf (477KB) | Copyrighted

  • Collision Warning and Sensor Data Processing in Urban Areas

    Christoph Mertz, David Duggins, Jay Gowdy, John Kozar, Robert MacLachlan, Aaron Steinfeld, Arne Suppe, Chuck Thorpe, and Chieh-Chih Wang
    Proceedings of the 5th international conference on ITS telecommunications, June, 2005, pp. 73-78.
    Details | pdf (260KB) | Copyrighted

  • Entwicklung eines Kollisionswarnsystems f? Stadtbusse

    Christoph Mertz
    3. Workshop Fahrerassistenzsysteme, April, 2005, pp. 56-63.
    Details | pdf (196KB) | Copyrighted

  • A Hierarchical Object Based Representation for Simultaneous Localization and Mapping

    Chieh-Chih Wang and Chuck Thorpe
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2004.
    Details | pdf (521KB) | Copyrighted

  • Simultaneous Localization, Mapping and Moving Object Tracking

    Chieh-Chih Wang
    doctoral dissertation, tech. report CMU-RI-TR-04-23, Robotics Institute, Carnegie Mellon University, April, 2004
    Details | pdf (8MB) | Copyrighted

  • A 2D Collision Warning Framework based on a Monte Carlo Approach

    Christoph Mertz
    Proceedings of ITS America's 14th Annual Meeting and Exposition, April, 2004.
    Details | pdf (603KB) | Copyrighted

  • Integrated Collision Warning System Final Technical Report

    U. of C. PATH and CMU RI
    FTA-PA-26-7006-04.1, December, 2004
    Details | pdf (7MB) | Copyrighted

  • Interface lessons for fully and semi-autonomous mobile robots

    Aaron Steinfeld
    IEEE International Conference on Robotics and Automation (ICRA), 2004.
    Details | pdf (339KB) | Copyrighted

  • Development of the Side Component of the Transit Integrated Collision Warning System

    Aaron Steinfeld, David Duggins, Jay Gowdy, John Kozar, Robert MacLachlan, Christoph Mertz, Arne Suppe, Chuck Thorpe, and Chieh-Chih Wang
    IEEE Conference on Intelligent Transportation Systems (ITSC), 2004, pp. 343-348.
    Details | pdf (188KB) | Copyrighted

  • Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers

    Romuald Aufrere, Christoph Mertz, and Chuck Thorpe
    Proceedings of the IEEE Intelligent Vehicles Symposium (IV2003), June, 2003.
    Details | pdf (2MB) | Copyrighted

  • Ladar-Based Detection and Tracking of Moving Objects from a Ground Vehicle at High Speeds

    Chieh-Chih Wang, Chuck Thorpe, and Arne Suppe
    IEEE Intelligent Vehicles Symposium (IV2003), June, 2003.
    Details | pdf (912KB) | Copyrighted

  • Online Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects: Theory and Results from a Ground Vehicle in Crowded Urban Areas

    Chieh-Chih Wang, Chuck Thorpe, and Sebastian Thrun
    IEEE International Conference on Robotics and Automation, May, 2003.
    Details | pdf (2MB) | Copyrighted

  • Perception for collision avoidance and autonomous driving

    Romuald Aufrere, Jay Gowdy, Christoph Mertz, Chuck Thorpe, Chieh-Chih Wang, and Teruko Yata
    Mechatronics, Vol. 13, No. 10, December, 2003, pp. 1149-1161.
    Details | pdf (1MB) | Copyrighted

  • Safe Robot Driving in Cluttered Environments

    Chuck Thorpe, Justin David Carlson, David Duggins, Jay Gowdy, Robert MacLachlan, Christoph Mertz, Arne Suppe, and Chieh-Chih Wang
    Proceedings of the 11th International Symposium of Robotics Research, October, 2003.
    Details | pdf (349KB) | Copyrighted

  • 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.
    Details | pdf (4MB) | Copyrighted

  • Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects

    Chieh-Chih Wang and Chuck Thorpe
    IEEE International Conference on Robotics and Automation, May, 2002.
    Details | pdf (430KB) | Copyrighted

  • Side Collision Warning System (SCWS) Performance Specifications for a Transit Bus

    Chuck Thorpe, David Duggins, Sue McNeil, and Christoph Mertz
    Final report, prepared for the Federal Transit Administration under PennDOT agreement number 62N111, Project TA-34, May, 2002
    Details | pdf (501KB) | Copyrighted

  • Driving in Traffic: Short-Range Sensing for Urban Collision Avoidance

    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.
    Details | pdf (58KB) | Copyrighted

  • A Performance Specification for Transit Bus Side Collision Warning System

    Sue McNeil, David Duggins, Christoph Mertz, Arne Suppe, and Chuck Thorpe
    ITS2002, proceedings of 9th World Congress on Intelligent Transport Systems, October, 2002.
    Details | pdf (42KB) | Copyrighted

  • Static Environment Recognition Using Omni-camera from a Moving Vehicle

    Teruko Yata, Chuck Thorpe, and Frank Dellaert
    tech. report CMU-RI-TR-02-12, Robotics Institute, Carnegie Mellon University, 2002
    Details | pdf (494KB) | Copyrighted

  • Robot as partner: vehicle teleoperation with collaborative control

    Terrence W. Fong, Chuck Thorpe, and Charles Baur
    Multi-Robot Systems: From Swarms to Intelligent Automata, Alan Schultz and Lynne Parker, ed., Kluwer, 2002
    Details | pdf (329KB) | Copyrighted

  • Environment Recognition from a Car Using an Omni-camera

    Teruko Yata and Chuck Thorpe
    Proceedings of the 19th Annual Conference of the Robotics Society of Japan, September, 2001, pp. 539-540.
    Details

  • Dressed Human Modeling, Detection, and Parts Localization

    Liang Zhao
    doctoral dissertation, tech. report CMU-RI-TR-01-19, Robotics Institute, Carnegie Mellon University, July, 2001
    Details | pdf (2MB) | Copyrighted

  • Sensor-friendly vehicle and roadway systems

    P. Griffiths, Dirk Langer, J.A. Misener, Mel Siegel, and Chuck Thorpe
    Proceedings of the 18th Instrumentation and Measurement Technology Conference (IMTC '01), May, 2001, pp. 1036 -1040.
    Details | pdf (545KB) | Copyrighted

  • Dependable Perception for Robots

    Chuck Thorpe, Olivier Clatz, David Duggins, Jay Gowdy, Robert MacLachlan, James Ryan Miller , Christoph Mertz, Mel Siegel, Chieh-Chih Wang, and Teruko Yata
    Proceedings of International Advanced Robotics Programme IEEE, May, 2001.
    Details | pdf (590KB) | Copyrighted

  • Eye-safe Laser Line Striper for Outside Use

    Christoph Mertz, John Kozar, James Ryan Miller , and Chuck Thorpe
    IV 2002, IEEE Intelligent Vehicle Symposium, June, 2002., December, 2001.
    Details | pdf (1MB) | Copyrighted

  • Side Collision Warning Systems for Transit Buses: Functional Goals

    David Duggins, Sue McNeil, Christoph Mertz, Chuck Thorpe, and Teruko Yata
    tech. report CMU-RI-TR-01-11, Robotics Institute, Carnegie Mellon University, 2001
    Details | pdf (30KB) | Copyrighted

  • Stereo and Neural Network-based Pedestrian Detection

    Liang Zhao and Chuck Thorpe
    IEEE Transactions on Intelligent Transportation Systems, Vol. 1, No. 3, September, 2000, pp. 148 -154.
    Details | pdf (166KB) | Copyrighted

  • Recursive Context Reasoning for Human Detection and Part Identification

    Liang Zhao and Chuck Thorpe
    IEEE Workshop on Human Modeling, Analysis, and Synthesis, June, 2000.
    Details | pdf (297KB) | Copyrighted

  • A New Focus for Side Collision Warning Systems for Transit Buses

    Sue McNeil, Chuck Thorpe, and Christoph Mertz
    ITS2000, Intelligent Transportation Society of America's Tenth Annual Meeting and Exposition, May, 2000.
    Details | pdf (138KB) | Copyrighted

  • Side Collision Warning Systems for Transit Buses

    Christoph Mertz, Sue McNeil, and Chuck Thorpe
    IV 2000, IEEE Intelligent Vehicle Symposium, October, 2000.
    Details | pdf (382KB) | Copyrighted

  • Driver Adaptive Lane Departure Warning Systems

    Parag Batavia
    doctoral dissertation, tech. report CMU-RI-TR-99-25, Robotics Institute, Carnegie Mellon University, September, 1999
    Details | pdf (5MB) | Copyrighted

  • Laser Intensity-Based Obstacle Detection and Tracking

    John Hancock
    doctoral dissertation, tech. report CMU-RI-TR-99-01, Robotics Institute, Carnegie Mellon University, January, 1999
    Details | pdf (2MB) | Copyrighted

  • Stereo and Neural Network-based Pedestrian Detection

    Liang Zhao and Chuck Thorpe
    Proc. 1999 Int'l Conf. on Intelligent Transportation Systems, October, 1999, pp. 298-303.
    Details | pdf (311KB) | Copyrighted

  • Experiments with Driving Modes for Urban Robots

    Martial Hebert, Robert MacLachlan, and Peng Chang
    Proceedings of SPIE, 1999.
    Details | pdf (2MB) | Copyrighted

  • A Trinocular Stereo System for Highway Obstacle Detection

    Todd Williamson and Chuck Thorpe
    1999 International Conference on Robotics and Automation (ICRA '99), 1999.
    Details | pdf (388KB) | Copyrighted

  • Toward Middleware Fault Injection for Automotive Networks

    P. Koopman, Eushiuan Tran, and G. Hendrey
    Fault Tolerant Computing Symposium, June, 1998, pp. 78 - 79.
    Details

  • Qualitative and Quantitative Car Tracking from a Range Image Sequence

    Liang Zhao and Chuck Thorpe
    Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June, 1998, pp. 496-501.
    Details | pdf (227KB) | Copyrighted

  • Model-Based Car Tracking Integrated with a Road-Follower

    Frank Dellaert, Dean Pomerleau, and Chuck Thorpe
    International Conference on Robotics and Automation, May, 1998.
    Details | pdf (504KB) | Copyrighted

  • Driver Adaptive Warning Systems

    Parag Batavia
    tech. report CMU-RI-TR-98-07, Robotics Institute, Carnegie Mellon University, March, 1998
    Details | pdf (461KB) | Copyrighted

  • Predicting Lane Position for Roadway Departure Prevention

    Parag Batavia, Dean Pomerleau, and Chuck Thorpe
    Proceedings of the IEEE Intelligent Vehicles Symposium, October, 1998.
    Details | pdf (74KB) | Copyrighted

  • Laser Intensity-Based Obstacle Detection

    John Hancock, Martial Hebert, and Chuck Thorpe
    Proceedings 1998 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '98), October, 1998, pp. 1541 - 1546.
    Details | pdf (475KB) | Copyrighted

  • Tactical-level Simulation for Intelligent Transportation Systems

    Rahul Sukthankar, John Hancock, and Chuck Thorpe
    Journal on Mathematical and Computer Modeling, Special Issue on ITS, Vol. 27, No. 9 - 11, 1998, pp. 228 - 242.
    Details | pdf (154KB) | Copyrighted

  • Orthogonal Capability Building Blocks for Flexible AHS Deployment

    P. Koopman and Michelle Bayouth
    Journal of Intelligent Transportation Systems, Vol. 4, 1998, pp. 1 - 19.
    Details | pdf (57KB) | Copyrighted

  • Multiple Adaptive Intelligent Agents for Tactical Driving

    Rahul Sukthankar, Shumeet Baluja, and John Hancock
    International Journal of Applied Intelligence, , 1998
    Details | pdf (395KB) | Copyrighted

  • Functional Evolution of an Automated Highway System for Incremental Deployment

    Michelle Bayouth and Philip Koopman
    Transportation Research Record, No. 1651, 1998, pp. 80 - 88.
    Details | pdf (81KB) | Copyrighted

  • Mixed Traffic and Automated Highways

    Chuck Thorpe
    Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), September, 1997, pp. 1011 -1017.
    Details | pdf (716KB) | Copyrighted

  • Map Building with Radar and Motion Sensors for Automated Highway Vehicle Navigation

    K. Kimoto and Chuck Thorpe
    Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), September, 1997, pp. 1721 -1728.
    Details | pdf (644KB) | Copyrighted

  • An examination of the STRIPE vehicle teleoperation system

    J.S. Kay and Chuck Thorpe
    Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), September, 1997, pp. 1152 - 1157.
    Details | pdf (835KB) | Copyrighted

  • Modeling and Analysis of Driver/Vehicle Dynamics with Run-Off-Road Crash Avoidance Systems

    J.A. Hadden, J.H. Everson, D.B. Pape, V.K. Narendran, and Dean Pomerleau
    30th International Symposium on Automotive Technology and Automation, June, 1997, pp. 343-350.
    Details | pdf (176KB) | Copyrighted

  • High-Speed Obstacle Detection for Automated Highway Applications

    John Hancock
    tech. report CMU-RI-TR-97-17, Robotics Institute, Carnegie Mellon University, May, 1997
    Details | pdf (139KB) | Copyrighted

  • AURORA: A Vision-Based Roadway Departure Warning System

    Mei Chen, Todd Jochem, and Dean Pomerleau
    tech. report CMU-RI-TR-97-21, Robotics Institute, Carnegie Mellon University, May, 1997
    Details | pdf (323KB) | Copyrighted

  • Evolving an Intelligent Vehicle for Tactical Reasoning in Traffic

    Rahul Sukthankar, Shumeet Baluja, and John Hancock
    Proceedings of the International Conference on Robotics and Automation, April, 1997, pp. 519 - 524.
    Details | pdf (183KB) | Copyrighted

  • Situation Awareness for Tactical Driving

    Rahul Sukthankar
    doctoral dissertation, tech. report CMU-RI-TR-97-08, Robotics Institute, Carnegie Mellon University, January, 1997
    Details | pdf (917KB) | Copyrighted

  • DAMN: A Distributed Architecture for Mobile Navigation

    Julio Rosenblatt
    doctoral dissertation, tech. report CMU-RI-TR-97-01, Robotics Institute, Carnegie Mellon University, January, 1997
    Details | pdf (0 Byte) | Copyrighted

  • Mission Failure Probability Calculations for Critical Function Mechanizations in the Automated Highway System

    Eushiuan Tran and Philip Koopman
    tech. report CMU-RI-TR-97-44, Robotics Institute, Carnegie Mellon University, December, 1997
    Details | pdf (118KB) | Copyrighted

  • Expectation-based selective attention for visual monitoring and control of a robot vehicle

    Shumeet Baluja and Dean Pomerleau
    Robotics and Autonomous Systems, Vol. 22, No. 3-4, December, 1997, pp. 329-344.
    Details | pdf (131KB) | Copyrighted

  • Visibility Estimation from a Moving Vehicle Using the RALPH Vision System

    Dean Pomerleau
    IEEE Conference on Intelligent Transportation Systems, November, 1997, pp. 906 - 911.
    Details | pdf (671KB) | Copyrighted

  • The 1997 Automated Highway Free Agent Demonstration

    Chuck Thorpe, Todd Jochem, and Dean Pomerleau
    IEEE Conference on Intelligent Transportation Systems, November, 1997, pp. 496 - 501.
    Details | pdf (526KB) | Copyrighted

  • Overtaking Vehicle Detection Using Implicit Optical Flow

    Parag Batavia, Dean Pomerleau, and Chuck Thorpe
    Proceedings of the IEEE Transportation Systems Conference, November, 1997, pp. 729 - 734.
    Details | pdf (56KB) | Copyrighted

  • Performance Specification Development For Roadway Departure Collision Avoidance Systems

    Dean Pomerleau, Chuck Thorpe, and Lloyd Emery
    Proceedings of the 4th World Congress on Intelligent Transportation Systems, October, 1997.
    Details | pdf (108KB) | Copyrighted

  • Automated Highways and the Free Agent Demonstration

    Chuck Thorpe, Todd Jochem, and Dean Pomerleau
    International Symposium on Robotics Research, October, 1997.
    Details | pdf (429KB) | Copyrighted

  • A Distributed Tactical Reasoning Framework for Intelligent Vehicles

    Rahul Sukthankar, Dean Pomerleau, and Chuck Thorpe
    SPIE: Intelligent Systems and Advanced Manufacturing, October, 1997.
    Details

  • Vision-Based Neural Network Road and Intersection Detection

    Todd Jochem and Dean Pomerleau
    In Intelligent Unmanned Ground Vehicles, Martial H. Hebert, Charles Thorpe, and Anthony Stentz, ed., Kluwer Academic Publishers, 1997
    Details

  • The 1997 Automated Highway Demonstration

    Chuck Thorpe, Todd Jochem, and Dean Pomerleau
    1997 International Symposium on Robotics Research, 1997.
    Details

  • STRIPE: Remote Driving Using Limited Image Data

    Jennifer S. Kay
    doctoral dissertation, tech. report CMU-CS-97-100, Computer Science Department, Carnegie Mellon University, 1997
    Details

  • Robust Car Tracking using Kalman filtering and Bayesian templates

    Frank Dellaert and Chuck Thorpe
    Conference on Intelligent Transportation Systems, 1997.
    Details | pdf (462KB) | Copyrighted

  • High-performance laser range scanner

    John Hancock, E. Hoffman, R. Sullivan, D. Ingimarson, Dirk Langer, and Martial Hebert
    SPIE Proceedings on Intelligent Transportation Systems, 1997.
    Details | pdf (362KB) | Copyrighted

  • Detecting Overtaking Vehicles With Implicit Optical Flow

    Parag Batavia, Dean Pomerleau, and Chuck Thorpe
    tech. report CMU-RI-TR-97-28, Robotics Institute, Carnegie Mellon University, 1997
    Details | pdf (174KB) | Copyrighted

  • DAMN: A Distributed Architecture for Mobile Navigation

    Julio Rosenblatt
    Journal of Experimental and Theoretical Artificial Intelligence, Vol. 9, No. 2 / 3, 1997, pp. 339 - 360.
    Details | pdf (96KB) | Copyrighted

  • Vision Based Intersection Navigation

    Todd Jochem, Dean Pomerleau, and Chuck Thorpe
    Proceedings of the 1996 IEEE Symposium on Intelligent Vehicles, September, 1996, pp. 391 - 396.
    Details | pdf (1MB) | Copyrighted

  • Fusing Radar and Vision for Detecting, Classifying and Avoiding Roadway Obstacles

    Dirk Langer and Todd Jochem
    IEEE Symposium on Intelligent Vehicles, September, 1996.
    Details | pdf (499KB) | Copyrighted

  • Evolution of an artificial neural network based autonomous land vehicle controller

    Shumeet Baluja
    IEEE Transactions on Systems, Man and Cybernetics, Part B, Vol. 26, No. 3, June, 1996, pp. 450 - 463.
    Details | pdf (2MB) | Copyrighted

  • Rapidly Adapting Machine Vision for Automated Vehicle Steering

    Dean Pomerleau and Todd Jochem
    IEEE Expert: Special Issue on Intelligent System and their Applications, Vol. 11, No. 2, April, 1996, pp. 19-27.
    Details | pdf (2MB) | Copyrighted

  • Image Processor Drives Across America

    Dean Pomerleau and Todd Jochem
    Photonics Spectra, , April, 1996, pp. 80-85.
    Details

  • Driving Simulator Tests of Lane Separture Collision Avoidance Systems

    Louis Tijerina, James J. Jackson, Dean Pomerleau, Richard A. Romano, and Andrew D. Pertersen
    ITS America Sixth Annual Meeting, April, 1996.
    Details | pdf (390KB) | Copyrighted

  • Dynamic Vehicle Simulation to Evaluate Countermeasure Systems for Run-Off-Road Crashes

    D.B. Pape, V.K. Narendran, M.J. Koenig, J.A. Hadden, J.H. Everson, and Dean Pomerleau
    International Congress 81 Exposition, February, 1996.
    Details | pdf (212KB) | Copyrighted

  • Applying Advanced Learning Algorithms to ALVINN

    Parag Batavia, Dean Pomerleau, and Chuck Thorpe
    tech. report CMU-RI-TR-96-31, Robotics Institute, Carnegie Mellon University, October, 1996
    Details | pdf (151KB) | Copyrighted

  • Prototyping Intelligent Vehicle Modules Using Evolutionary Algorithms

    Shumeet Baluja, Rahul Sukthankar, and John Hancock
    Evolutionary Algorithms in Engineering Applications, Dasgupta, D. and Michalewicz, Z., ed., Springer-Verlag, 1996, pp. 241 - 257.
    Details | pdf (342KB) | Copyrighted

  • Life in the Fast Lane: The Evolution of an Adaptive Vehicle Control System

    Todd Jochem and Dean Pomerleau
    AI Magazine, Vol. 17, No. 2, 1996, pp. 11-50.
    Details | pdf (2MB) | Copyrighted

  • Adaptive Intelligent Vehicle Modules for Tactical Driving

    Rahul Sukthankar, John Hancock, Shumeet Baluja, Dean Pomerleau, and Chuck Thorpe
    Proceedings AAAI '96, 1996.
    Details | pdf (126KB) | Copyrighted

  • A Simulation and Design System for Tactical Driving Algorithms

    Rahul Sukthankar, John Hancock, Dean Pomerleau, and Chuck Thorpe
    Proceedings of AI, Simulation and Planning in High Autonomy Systems, 1996.
    Details | pdf (115KB) | Copyrighted

  • Vision Guided Lane Transition

    Todd Jochem, Dean Pomerleau, and Chuck Thorpe
    IEEE Symposium on Intelligent Vehicles, September, 1995, pp. 30 - 35.
    Details | pdf (514KB) | Copyrighted

  • SHIVA: Simulated Highways for Intelligent Vehicle Algorithms

    Rahul Sukthankar, Dean Pomerleau, and Chuck Thorpe
    Proceedings of Intelligent Vehicles '95, September, 1995, pp. 332 - 337.
    Details | pdf (226KB) | Copyrighted

  • RALPH: Rapidly Adapting Lateral Position Handler

    Dean Pomerleau
    IEEE Symposium on Intelligent Vehicles, September, 1995, pp. 506 - 511.
    Details | pdf (614KB) | Copyrighted

  • Vision-Based Neural Network Road and Intersection Detection and Traversal

    Todd Jochem, Dean Pomerleau, and Chuck Thorpe
    IEEE Conference on Intelligent Robots and Systems (IROS '95), August, 1995, pp. 344 - 349.
    Details | pdf (634KB) | Copyrighted

  • The YARF System for Vision-Based Road Following

    K. Kluge and Chuck Thorpe
    Mathematical and Computer Modelling, Vol. 22, No. 4-7, August, 1995, pp. 213-233.
    Details

  • Range Sensor based Outdoor Vehicle Navigation, Collision Avoidance and Parallel Parking

    Dirk Langer and Chuck Thorpe
    Autonomous Robots, Vol. 2, No. 2, August, 1995, pp. 147 - 161.
    Details | pdf (452KB) | Copyrighted

  • ELVIS: Eigenvectors for Land Vehicle Image System

    John Hancock and Chuck Thorpe
    Proceedings of the International Conference on Intelligent Robots and Systems. 'Human Robot Interaction and Cooperative Robots' (IROS '95), August, 1995, pp. 35 - 40.
    Details | pdf (673KB) | Copyrighted

  • Combining Multiple Goals in a Behavior-Based Architecture

    Julio Rosenblatt and Chuck Thorpe
    IEEE Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots (IROS '95), August, 1995, pp. 136 - 141.
    Details | pdf (41KB) | Copyrighted

  • AURORA: A Vision-Based Roadway Departure Warning System

    Mei Chen, Todd Jochem, and Dean Pomerleau
    IEEE Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots, August, 1995, pp. 243 - 248.
    Details | pdf (318KB) | Copyrighted

  • Operator Interface Design Issues In A Low-Bandwidth And High-Latency Vehicle Teleoperation System

    J. Kay and Chuck Thorpe
    International Conference on Environmental Systems, July, 1995.
    Details | pdf (638KB) | Copyrighted

  • Demonstration of an Autonomous Convoying Concept

    B. Motazed, D. Patukas, Alonzo Kelly, Dean Pomerleau, and Todd Jochem
    Proceedings of the Fifth Annual Meeting of IVHS America, March, 1995.
    Details

  • DAMN: A Distributed Architecture for Mobile Navigation

    Julio Rosenblatt
    Proceedings of the 1995 AAAI SpringSymposium on Lessons Learned from Implemented Software Architectures for Physical Agents, March, 1995.
    Details | pdf (0 Byte) | Copyrighted

  • Semi-Autonomous Vehicle Teleoperation Across Low-Bandwidth or High-Delay Transmission Links

    J. Kay and Chuck Thorpe
    1995.
    Details | pdf (437KB) | Copyrighted

  • Robots, Transportation, and Society

    Chuck Thorpe and Dean Pomerleau
    Proceedings of ISRR-7, 1995.
    Details

  • Neural Network Vision for Robot Driving

    Dean Pomerleau
    The Handbook of Brain Theory and Neural Networks, M. Arbib, ed., 1995
    Details | pdf (375KB) | Copyrighted

  • An Integrated System for Autonomous Off-Road Navigation

    Dirk Langer, Julio Rosenblatt, and Martial Hebert
    Proc. IEEE Int. Conf. on Robotics and Automation, May, 1994.
    Details | pdf (250KB) | Copyrighted

  • A Reactive System For Off-Road Navigation

    Dirk Langer, Julio Rosenblatt, and Martial Hebert
    Proc. of IEEE Robotics and Automation, May, 1994.
    Details | pdf (2MB) | Copyrighted

  • ELVIS: Eigenvectors for Land Vehicle Image System

    John Hancock and Chuck Thorpe
    tech. report CMU-RI-TR-94-43, Robotics Institute, Carnegie Mellon University, December, 1994
    Details | pdf (153KB) | Copyrighted

  • A discriminating feature tracker for vision-based autonomous driving

    Henry Schneiderman and M. Nashman
    IEEE Transactions on Robotics and Automation, Vol. 10, No. 6, December, 1994, pp. 769 - 775.
    Details | pdf (1MB) | Copyrighted

  • A Behavior-Based System for Off-Road Navigation

    Dirk Langer, Julio Rosenblatt, and Martial Hebert
    IEEE Trans. Robotics and Automation, Vol. 10, No. 6, December, 1994, pp. 776-782.
    Details | pdf (242KB) | Copyrighted

  • Defense and Civilian Applications of the ALVINN Robot Driving System

    Dean Pomerleau
    1994 Government Microcircuit Applications Conference, November, 1994, pp. 358-362.
    Details | pdf (115KB) | Copyrighted

  • Sensor Performance and Weather Effects Modeling for Intelligent Transportation Systems

    J. Everson, E. Kopala, L. Lazofson, H. Choe, and Dean Pomerleau
    (ITS) Applications, Proceedings of SPIE International Symposium on Photonics for Electronic Products, 1994.
    Details | pdf (461KB) | Copyrighted

  • Reliability Estimation for Neural Network Based Autonomous Driving

    Dean Pomerleau
    Robotics and Autonomous Systems, Vol. 12, 1994, pp. 113-119.
    Details | pdf (330KB) | Copyrighted

  • AVCS Research at Carnegie Mellon University

    Dean Pomerleau, Chuck Thorpe, Dirk Langer, Julio Rosenblatt, and Rahul Sukthankar
    Proceedings of Intelligent Vehicle Highway Systems, 1994.
    Details | pdf (138KB) | Copyrighted

  • Real-time Visual Processing For Autonomous Driving

    M. Nashman and Henry Schneiderman
    Intelligent Vehicles '93 Symposium, July, 1993, pp. 373 - 378.
    Details | pdf (591KB) | Copyrighted

  • Neural Networks for Intelligent Vehicles

    Dean Pomerleau
    Proceedings of the 1993 Intelligent Vehicles Conference, July, 1993, pp. 19 - 24.
    Details | pdf (575KB) | Copyrighted

  • Panacea: An Active Sensor Controller for the ALVINN Autonomous Driving System

    Rahul Sukthankar, Dean Pomerleau, and Chuck Thorpe
    tech. report CMU-RI-TR-93-09, Robotics Institute, Carnegie Mellon University, April, 1993
    Details | pdf (273KB) | Copyrighted

  • YARF: An Open-Ended Framework for Robot Road Following

    K. Kluge
    tech. report CMU-CS-93-104, Computer Science Department, Carnegie Mellon University, February, 1993
    Details

  • STRIPE: Supervised TeleRobotics Using Incremental Polygonal Earth Geometry

    J. Kay and Chuck Thorpe
    International Conference on Intelligent Autonomous Systems, February, 1993, pp. pp 399-406.
    Details | pdf (429KB) | Copyrighted

  • SCARF: A Color Vision System that Tracks Roads and Intersections

    J. Crisman and Chuck Thorpe
    IEEE Trans. on Robotics and Automation, Vol. 9, No. 1, February, 1993, pp. 49 - 58.
    Details | pdf (1MB) | Copyrighted

  • MANIAC: A Next Generation Neurally Based Autonomous Road Follower

    Todd Jochem, Dean Pomerleau, and Chuck Thorpe
    Proceedings of the International Conference on Intelligent Autonomous Systems, February, 1993.
    Details | pdf (22KB) | Copyrighted

  • Analysis of Feature Detectors Learned by a Neural Network Autonomous Driving System

    Dean Pomerleau and David S. Touretzky
    International Conference on Intelligent Autonomous Systems (IAS-3) contitle:Understanding Neural Network Internal Representations through Hidden Unit Sensitivity Analysis, February, 1993, pp. 572-581.
    Details

  • A Massively Parallel Road Follower

    Todd Jochem and Shumeet Baluja
    Proceedings of Computer Architectures for Machine Perception, December, 1993, pp. 2 - 12.
    Details | pdf (1MB) | Copyrighted

  • Smart Cars: The CMU Navlab

    Chuck Thorpe, R. Craig Coulter, Martial Hebert, Todd Jochem, Dirk Langer, Dean Pomerleau, Julio Rosenblatt, W. Ross, and Anthony (Tony) Stentz
    Proceedings of WORLD MED93, October, 1993.
    Details

  • RACCOON: A Real-time Autonomous Car Chaser Operating Optimally at Night

    Rahul Sukthankar
    Proceedings of the IEEE IV'93, 1993.
    Details | pdf (113KB) | Copyrighted

  • Panacea: An Active Sensor Controller for the ALVINN Autonomous Driving System

    Rahul Sukthankar, Dean Pomerleau, and Chuck Thorpe
    Proceedings of the International Symposium on Robotics Research, 1993.
    Details | pdf (254KB) | Copyrighted

  • Neural network perception for mobile robot guidance

    Dean Pomerleau
    Kluwer Academic Publishing, 1993
    Details

  • Knowledge-based Training of Artificial Neural Networks for Autonomous Robot Driving

    Dean Pomerleau
    Robot Learning, J. Connell and S. Mahadevan, ed., 1993
    Details | pdf (357KB) | Copyrighted

  • Intersection Detection in the YARF Road Following System

    K. Kluge and Chuck Thorpe
    International Conference of Intelligent Autonomous Systems, 1993, pp. pp 145-154.
    Details

  • Third Annual Report for Perception for Outdoor Navigation

    Chuck Thorpe and Takeo Kanade
    tech. report CMU-RI-TR-92-16, Robotics Institute, Carnegie Mellon University, September, 1992
    Details | pdf (0 Byte) | Copyrighted

  • Sonar Based Outdoor Vehicle Navigation and Collision Avoidance

    Dirk Langer and Chuck Thorpe
    Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92), July, 1992, pp. 1445 -1450.
    Details | pdf (614KB) | Copyrighted

  • Representation and Recovery of Road Geometry in YARF.

    K. Kluge and Chuck Thorpe
    Proceedings of the Intelligent Vehicles '92 Symposium, July, 1992, pp. 114 -119.
    Details | pdf (516KB) | Copyrighted

  • Progress in Neural Network-based Vision for Autonomous Robot Driving

    Dean Pomerleau
    Proceedings of the 1992 Intelligent Vehicles Conference, June, 1992, pp. 391-396.
    Details | pdf (776KB) | Copyrighted

  • Visual Processing for Autonomous Driving

    Henry Schneiderman and M. Nashman
    Proceedings of IEEE Workshop on Applications of Computer Vision, December, 1992, pp. 164 - 171.
    Details | pdf (598KB) | Copyrighted

  • RACCOON: A Real-time Autonomous Car Chaser Operating Optimally at Night

    Rahul Sukthankar
    tech. report CMU-RI-TR-92-13, Robotics Institute, Carnegie Mellon University, October, 1992
    Details | pdf (133KB) | Copyrighted

  • Toward Autonomous Driving: The CMU Navlab. Part I: Perception

    Chuck Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer
    IEEE Expert, Vol. 6, No. 4, August, 1991, pp. 31 - 42.
    Details | pdf (2MB) | Copyrighted

  • Toward Autonomous Driving: The CMU Navlab. Part II: System and Architecture

    Chuck Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer
    IEEE Expert, Vol. 6, No. 4, August, 1991, pp. 44 - 52.
    Details | pdf (939KB) | Copyrighted

  • Predictive Path Tracking of Mobile Robots

    A. Ollero and Omead Amidi
    Proceedings of 5th International Conference on Advanced Robotics, Robots in Unstructured Environments (ICAR '91), June, 1991, pp. 1081 - 1086.
    Details | pdf (409KB) | Copyrighted

  • The Warp machine on Navlab

    J.D. Crisman and J.A. Webb
    IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 13, May, 1991, pp. 451 - 465.
    Details | pdf (2MB) | Copyrighted

  • Building and navigating maps of road scenes using an active sensor

    Martial Hebert
    Proceedings of IEEE International Conference on Robotics and Automation (ICRA '89), May, 1991, pp. 1136 - 1143.
    Details | pdf (718KB) | Copyrighted

  • UNSCARF, A Color Vision System for the Detection of Unstructured Roads

    J. Crisman and Chuck Thorpe
    Proceedings of IEEE International Conference on Robotics and Automation, April, 1991, pp. 2496 - 2501.
    Details | pdf (1MB) | Copyrighted

  • Second Annual Report for Perception for Outdoor Navigation

    Chuck Thorpe and Takeo Kanade
    tech. report CMU-RI-TR-91-28, Robotics Institute, Carnegie Mellon University, December, 1991
    Details | pdf (7MB) | Copyrighted

  • Integrating Position Measurement and Image Understanding for Autonomous Vehicle Navigation

    Chuck Thorpe, Omead Amidi, Jay Gowdy, Martial Hebert, and D. Pomerleau.
    Proceedings of 2nd International Workshop on High Precision Navigation, November, 1991.
    Details

  • Rapidly Adapting Artificial Neural Networks for Autonomous Navigation

    Dean Pomerleau
    Advances in Neural Information Processing Systems 3, 1991, pp. 429-435.
    Details

  • Outdoor visual navigation for autonomous robots

    Chuck Thorpe
    Robotics and Autonomous Systems 7, , 1991
    Details

  • Neural network-based vision processing for autonomous robot guidance

    Dean Pomerleau
    Proceedings of SPIE Conference on Aerospace Sensing, 1991.
    Details

  • Efficient Training of Artificial Neural Networks for Autonomous Navigation

    Dean Pomerleau
    Neural Computation, Vol. 3, No. 1, 1991, pp. 88-97.
    Details | pdf (491KB) | Copyrighted

  • Combining artificial neural networks and symbolic processing for autonomous robot guidance

    Dean Pomerleau, Jay Gowdy, and Chuck Thorpe
    Engineering Applications of Artificial Intelligence, Vol. 4, No. 4, 1991, pp. 279 - 285.
    Details | pdf (174KB) | Copyrighted

  • Implementation of Dynamic Obstacle Avoidance on the CMU NavLab

    D. Feng, Sanjiv Singh, and Bruce Krogh
    Proc. IEEE International Conference on Systems Engineering, August, 1990.
    Details | pdf (314KB) | Copyrighted

  • Color Image Processing for Navigation: Two Road Trackers

    D. Aubert and Chuck Thorpe
    tech. report CMU-RI-TR-90-09, Robotics Institute, Carnegie Mellon University, April, 1990
    Details | pdf (595KB) | Copyrighted

  • First Year End Report for Perception for Outdoor Navigation

    Chuck Thorpe and Takeo Kanade
    tech. report CMU-RI-TR-90-23, Robotics Institute, Carnegie Mellon University, November, 1990
    Details | pdf (5MB) | Copyrighted

  • Neural network based autonomous navigation

    Dean Pomerleau
    Vision and Navigation: The CMU Navlab, Charles Thorpe, ed., Kluwer Academic Publishers, 1990, pp. 83-92.
    Details

  • Hierarchical Terrain Representations for Off-Road Navigation

    Jay Gowdy, Anthony (Tony) Stentz, and Martial Hebert
    Proceedings of SPIE Symposium on Mobile Robots, 1990.
    Details | pdf (465KB) | Copyrighted

  • Autonomous Navigation of Structured City Roads

    D. Aubert, K. Kluge, and Chuck Thorpe
    Proceedings of SPIE Mobile Robots V, 1990.
    Details | pdf (962KB) | Copyrighted

  • Explicit Models for Road Following

    K. Kluge and Chuck Thorpe
    Proceedings of IEEE Conference on Robotics and Automation (ICRA '89), May, 1989, pp. 1148 -1154.
    Details | pdf (559KB) | Copyrighted

  • Carnegie Mellon Navlab Vision

    Chuck Thorpe and Takeo Kanade
    Proceedings of the 1989 DARPA Image Understanding Workshop, May, 1989.
    Details

  • ALVINN: An Autonomous Land Vehicle In a Neural Network

    Dean Pomerleau
    Advances in Neural Information Processing Systems 1, 1989.
    Details

  • Vision and navigation for the Carnegie-Mellon Navlab

    Chuck Thorpe, Martial Hebert, Takeo Kanade, and Steven Shafer
    IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 10, No. 3, May, 1988, pp. 362 - 373.
    Details | pdf (2MB) | Copyrighted

  • 3-D Vision for Outdoor Navigation by an Autonomous Vehicle

    Martial Hebert and Takeo Kanade
    Proceedings of the 1988 DARPA Image Understanding Workshop, April, 1988, pp. 593-601.
    Details | pdf (621KB) | Copyrighted

  • Color Vision for Road Following

    J. Crisman and Chuck Thorpe
    Proceedings of SPIE Conference on Mobile Robots, November, 1988.
    Details | pdf (271KB) | Copyrighted

  • The CMU Navigational Architecture

    Anthony (Tony) Stentz and Y. Goto
    Proceedings of the DARPA Image Understanding Workshop, February, 1987.
    Details

  • Mobile Robot Navigation: The CMU System

    Y. Goto and Anthony (Tony) Stentz
    IEEE Expert, Vol. 2, No. 4, 1987, pp. 44 - 55.
    Details | pdf (240KB) | Copyrighted

  • Outdoor Scene Analysis Using Range Data

    Martial Hebert and Takeo Kanade
    Proc. 1986 IEEE International Conference on Robotics and Automation, April, 1986, pp. 1426-1432.
    Details | pdf (524KB) | Copyrighted

  • Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles

    Bruce Krogh and Chuck Thorpe
    Proceedings of 1986 IEEE International Conference on Robotics and Automation (ICRA '86), April, 1986, pp. 1664 - 1669.
    Details | pdf (546KB) | Copyrighted

  • Vision and Navigation for the Carnegie Mellon Navlab

    Chuck Thorpe and Takeo Kanade
    Proceedings of the 1985 DARPA Image Understanding Workshop, 1985, pp. 143-152.
    Details

  • Sensor Fusion of Range and Reflectance Data for Outdoor Scene Analysis

    In So Kweon, Martial Hebert, and Takeo Kanade
    1985.
    Details | pdf (678KB) | Copyrighted

  • First Results on Outdoor Scene Analysis Using Range Data

    Martial Hebert and Takeo Kanade
    Proceedings of the 1985 DARPA Image Understanding Workshop, 1985, pp. 224-231.
    Details