/Pixel-Based Processing for Autonomous Driving

Pixel-Based Processing for Autonomous Driving

Martial Hebert
Conference Paper, Proc. International Conference on Robotics and Automation, May, 1994

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We describe a pixel-based approach to range processing for obstacle detection and autonomous driving as an alternative to the traditional image- or map-based appmches. The pixel-based approach eliminates the delays due to image acquisition and map building and permits the integration of traversability evaluation and path generation into a single module without the latency involved in distributed systems. We describe the algorithm used for updating a local map using individual range pixels, for detecting obstacles on the fly, and for generating steering commands. We illustrate the performance of the algorithm using an implementation of a cross-country driving system using a scanning laser range finder.

BibTeX Reference
author = {Martial Hebert},
title = {Pixel-Based Processing for Autonomous Driving},
booktitle = {Proc. International Conference on Robotics and Automation},
year = {1994},
month = {May},