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Transit Bus Collision Warning Systems
This project is no longer active.
Head: Chuck Thorpe
Contact: Christoph Mertz
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Vision and Autonomous Systems Center (VASC)
Associated lab(s) / group(s):
 NavLab
Publications
  • Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder

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

  • Stereo and Neural Network-based Pedestrian Detection

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

  • 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 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

  • 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

  • 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

  • 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

  • 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), October, 2002.
    Details | pdf (4MB) | Copyrighted

  • Recursive Context Reasoning for Human Detection and Part Identification

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

  • 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

  • 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, October, 2001, pp. 539-540.
    Details

  • 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, May, 2002.
    Details | pdf (58KB) | Copyrighted

  • 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

  • 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

  • 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

  • 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

  • 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, July, 2005, pp. 73-78.
    Details | pdf (260KB) | Copyrighted

  • Entwicklung eines Kollisionswarnsystems f? Stadtbusse

    Christoph Mertz
    3. Workshop Fahrerassistenzsysteme, May, 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), October, 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, May, 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, May, 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

  • 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), July, 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), July, 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

  • 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