/Chuck Thorpe

Chuck Thorpe

Portrait of Chuck Thorpe
Adjunct Faculty
Email: thorpe@andrew.cmu.edu
Mailing Address

My goal is to build vehicles that can drive. I work with both autonomous vehicles and intelligent teleoperation; with ground vehicles and with air vehicles; with perception and architectures and human factors.

For many years, my group concentrated on autonomous driving with the Navlab vehicles. Now, in the Navlab work we are placing more emphasis on driver assistance, such as helping bus drivers drive safely through crowded urban areas.

Our latest research vehicle is the Navlab 11, a robot jeep. Contrary to popular opinion, a flashy red jeep with lots of chrome is not a sign of midlife crisis; the chrome light bar and brush guard are high-tech mounting points for the various sensors we use, including ladar (3 of them simultaneously), light stripe rangefinder, radar, sonar, and omnicamera.

After 33 years in The Robotics Institute, I have moved to Clarkson University as Provost, effective July 2012. I remain an adjunct professor of The Robotics Institute, as well as a loyal alumnus. My new email is cthorpe@clarkson.edu

Displaying 168 Publications
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 Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 30, No. 1, pp. 17 - 43, January, 2013
Subgraph-preconditioned Conjugate Gradients for Large Scale SLAM
Frank Dellaert, Justin David Carlson, Viorela Ila, Kai Ni and Chuck Thorpe

Conference Paper, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), November, 2010
Subgraph-preconditioned Conjugate Gradients for Large Scale SLAM
Frank Dellaert, Justin David Carlson, Viorela Ila, Kai Ni and Chuck Thorpe

Carnegie Mellon University, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), July, 2010
Intelligent Diabetes Assistant: Using Telemedicine to Assist Diabetes Management
David Duke, Chuck Thorpe and Mazahir Mahmoud

Conference Paper, International Conference on Innovations in Information Technology, November, 2007
Robust Real-Time Local Laser Scanner Registration with Uncertainty Estimation
Justin David Carlson, Chuck Thorpe and David Duke

Conference Paper, International Conference on Field and Service Robotics, July, 2007
Simultaneous Localization, Mapping and Moving Object Tracking
Chieh-Chih Wang, Chuck Thorpe, Martial Hebert, Sebastian Thrun and H. Durrant-Whyte

Journal Article, Carnegie Mellon University, The International Journal of Robotics Research, Vol. 26, No. 6, June, 2007
Robotics in Early Undergraduate Education
David Duke, Justin David Carlson and Chuck Thorpe

Conference Paper, AAAI Symposium on Robotics in AI and CS Education, March, 2007
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

Conference Paper, Proceedings of the 5th international conference on ITS telecommunications, pp. 73-78, June, 2005
A Hierarchical Object Based Representation for Simultaneous Localization and Mapping
Chieh-Chih Wang and Chuck Thorpe

Conference Paper, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September, 2004
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

Conference Paper, IEEE Conference on Intelligent Transportation Systems (ITSC), pp. 343-348, January, 2004
Perception for collision avoidance and autonomous driving
Romuald Aufrere, Jay Gowdy, Christoph Mertz, Chuck Thorpe, Chieh-Chih Wang and Teruko Yata

Journal Article, Carnegie Mellon University, Mechatronics, Vol. 13, No. 10, pp. 1149-1161, December, 2003
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

Conference Paper, Proceedings of the 11th International Symposium of Robotics Research, October, 2003
PdaDriver: A Handheld System for Remote Driving
Terrence W. Fong, Chuck Thorpe and Betty Glass

Conference Paper, IEEE International Conference on Advanced Robotics 2003, July, 2003
Ladar-Based Detection and Tracking of Moving Objects from a Ground Vehicle at High Speeds
Chieh-Chih Wang, Chuck Thorpe and Arne Suppe

Conference Paper, IEEE Intelligent Vehicles Symposium (IV2003), June, 2003
Multiple Sensor Fusion for Detecting Location of Curbs, Walls, and Barriers
Romuald Aufrere, Christoph Mertz and Chuck Thorpe

Conference Paper, Proceedings of the IEEE Intelligent Vehicles Symposium (IV2003), June, 2003
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

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2003
Multi-Robot Remote Driving with Collaborative Control
Terrence W. Fong, Chuck Thorpe and Charles Baur

Journal Article, IEEE Transactions on Industrial Electronics, January, 2003
Robot, Asker of Questions
Terrence W. Fong, Chuck Thorpe and Charles Baur

Journal Article, Robotics and Autonomous Systems, January, 2003
A Performance Specification for Transit Bus Side Collision Warning System
Sue McNeil, David Duggins, Christoph Mertz, Arne Suppe and Chuck Thorpe

Conference Paper, ITS2002, proceedings of 9th World Congress on Intelligent Transport Systems, October, 2002
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

Conference Paper, Proceedings of the International Conference on Machine Automation (ICMA 2002), September, 2002
Side Collision Warning System (SCWS) Performance Specifications for a Transit Bus
Chuck Thorpe, David Duggins, Sue McNeil and Christoph Mertz

Miscellaneous, Carnegie Mellon University, Final report, prepared for the Federal Transit Administration under PennDOT agreement number 62N111, Project TA-34, May, 2002
Simultaneous Localization and Mapping with Detection and Tracking of Moving Objects
Chieh-Chih Wang and Chuck Thorpe

Conference Paper, IEEE International Conference on Robotics and Automation, May, 2002
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

Conference Paper, Proceedings of SPIE: Unmanned Ground Vehicle Technology IV, Vol. 4715, April, 2002
Robot as partner: vehicle teleoperation with collaborative control
Terrence W. Fong, Chuck Thorpe and Charles Baur

Book Section/Chapter, Multi-Robot Systems: From Swarms to Intelligent Automata, January, 2002
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, January, 2002
Eye-safe Laser Line Striper for Outside Use
Christoph Mertz, John Kozar, James Ryan Miller and Chuck Thorpe

Conference Paper, IV 2002, IEEE Intelligent Vehicle Symposium, June, 2002., December, 2001
Collaboration, Dialogue, and Human-Robot Interaction
Terrence W. Fong, Chuck Thorpe and C. Baur

Conference Paper, Proceedings of the 10th International Symposium of Robotics Research, Lorne, Victoria, Australia, November, 2001
Field Robots
Chuck Thorpe and Hugh Durrant-Whyte

Conference Paper, Proceedings of the 10th International Symposium of Robotics Research, Lorne, Victoria, Australia, November, 2001
Environment Recognition from a Car Using an Omni-camera
Teruko Yata and Chuck Thorpe

Conference Paper, Proceedings of the 19th Annual Conference of the Robotics Society of Japan, pp. 539-540, September, 2001
Multi-robot remote driving with collaborative control
Terrence W. Fong, S. Grange, Chuck Thorpe and Charles Baur

Conference Paper, 10th IEEE International Workshop on Robot-Human Interactive Communication, September, 2001
A Safeguarded Teleoperation Controller
Terrence W. Fong, Chuck Thorpe and Charles Baur

Conference Paper, IEEE International Conference on Advanced Robotics 2001, August, 2001
Advanced Interfaces for Vehicle Teleoperation: Collaborative Control, Sensor Fusion Displays, and Remote Driving Tools
Terrence W. Fong, Chuck Thorpe and Charles Baur

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 11, No. 1, pp. 77-85, July, 2001
Vehicle Teleoperation Interfaces
Terrence W. Fong and Chuck Thorpe

Journal Article, Carnegie Mellon University, Autonomous Robots, Vol. 11, No. 1, July, 2001
A Personal User Interface for Collaborative Human-Robot Exploration
Terrence W. Fong, Nathalie Cabrol, Chuck Thorpe and Charles Baur

Conference Paper, International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Montr?l, Canada, June, 2001
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

Conference Paper, Proceedings of International Advanced Robotics Programme IEEE, May, 2001
Sensor-friendly vehicle and roadway systems
P. Griffiths, Dirk Langer, J.A. Misener, Mel Siegel and Chuck Thorpe

Conference Paper, Proceedings of the 18th Instrumentation and Measurement Technology Conference (IMTC '01), Vol. 2, pp. 1036 -1040, May, 2001
Active Interfaces for Vehicle Teleoperation
Terrence W. Fong, Chuck Thorpe and Charles Baur

Journal Article, Carnegie Mellon University, SPIE Robotics and Machine Perception Working Group, Vol. 10, No. 1, March, 2001
Benefits Estimation of Sensor-Friendly Vehicle and Roadway Cooperative Safety Systems
James Misener, Chuck Thorpe, Robert Ferlis, Ron Hearne, Mel Siegel and Joe Perkowski

Miscellaneous, Carnegie Mellon University, March, 2001
Feature Correspondence: A Markov Chain Monte Carlo Approach
Frank Dellaert, Steven Seitz, Chuck Thorpe and Sebastian Thrun

Conference Paper, Advances in Neural Information Processing Systems 13 (NIPS 2000), January, 2001
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, January, 2001
Side Collision Warning Systems for Transit Buses
Christoph Mertz, Sue McNeil and Chuck Thorpe

Conference Paper, IV 2000, IEEE Intelligent Vehicle Symposium, October, 2000
Step Detection by Sonar
Teruko Yata and Chuck Thorpe

Conference Paper, Proceedings of the 18th Annual Conference of the Robotics Society of Japan, pp. 1325-1326, September, 2000
Stereo and Neural Network-based Pedestrian Detection
Liang Zhao and Chuck Thorpe

Journal Article, Carnegie Mellon University, IEEE Transactions on Intelligent Transportation Systems, Vol. 1, No. 3, pp. 148 -154, September, 2000
Remote Driving With a Multisensor User Interface
Gregoire Terrien, Terrence W. Fong, Chuck Thorpe and Charles Baur

Conference Paper, SAE 30th International Conference on Environmental Systems, July, 2000
Recursive Context Reasoning for Human Detection and Part Identification
Liang Zhao and Chuck Thorpe

Conference Paper, IEEE Workshop on Human Modeling, Analysis, and Synthesis, June, 2000
Structure from Motion without Correspondence
Frank Dellaert, Steven Seitz, Chuck Thorpe and Sebastian Thrun

Conference Paper, IEEE Computer Society Conference on Computer Vision and Pattern Recognition ( CVPR'00 ), June, 2000
A New Focus for Side Collision Warning Systems for Transit Buses
Sue McNeil, Chuck Thorpe and Christoph Mertz

Conference Paper, ITS2000, Intelligent Transportation Society of America's Tenth Annual Meeting and Exposition, May, 2000
Structure from Motion without Correspondence
Frank Dellaert, Steven Seitz, Chuck Thorpe and Sebastian Thrun

Tech. Report, CMU-RI-TR-99-44, Robotics Institute, Carnegie Mellon University, December, 1999
Stereo and Neural Network-based Pedestrian Detection
Liang Zhao and Chuck Thorpe

Conference Paper, Proc. 1999 Int'l Conf. on Intelligent Transportation Systems, pp. 298-303, October, 1999
Sensor Fusion Based User Interface for Vehicle Teleoperation
Roger Meier, Terrence W. Fong, Chuck Thorpe and C. Baur

Conference Paper, International Conference on Field and Service Robotics (FSR '99), August, 1999
Collaborative Control: A Robot-Centric Model for Vehicle Teleoperation
Terrence W. Fong, Chuck Thorpe and C. Baur

Conference Paper, AAAI 1999 Spring Symposium: Agents with Adjustable Autonomy, March, 1999
Mosaicing a Large Number of Widely Dispersed, Noisy, and Distorted Images: A Bayesian Approach
Frank Dellaert, Sebastian Thrun and Chuck Thorpe

Tech. Report, CMU-RI-TR-99-34, Robotics Institute, Carnegie Mellon University, March, 1999
A Trinocular Stereo System for Highway Obstacle Detection
Todd Williamson and Chuck Thorpe

Conference Paper, 1999 International Conference on Robotics and Automation (ICRA '99), January, 1999
Enhancing Driver-Assist Sensors: Background and Concepts for Sensor-Friendly Vehicles and Roadways
James Misener, Chuck Thorpe, Ron Hearne, Lee Johnson and Andrew Segal

Miscellaneous, January, 1999
Precision 3-D Modeling for Autonomous Helicopter Flight
James Ryan Miller, Omead Amidi, Chuck Thorpe and Takeo Kanade

Conference Paper, Proceedings of International Symposium of Robotics Research (ISRR), January, 1999
Jacobian Images of Super-Resolved Texture Maps for Model-Based Motion Estimation and Tracking
Frank Dellaert, Sebastian Thrun and Chuck Thorpe

Conference Paper, IEEE Workshop on Applications of Computer Vision (WACV'98), October, 1998
Laser Intensity-Based Obstacle Detection
John Hancock, Martial Hebert and Chuck Thorpe

Conference Paper, Proceedings 1998 IEEE/RSJ International Conference On Intelligent Robotic Systems (IROS '98), Vol. 3, pp. 1541 - 1546, October, 1998
Predicting Lane Position for Roadway Departure Prevention
Parag Batavia, Dean Pomerleau and Chuck Thorpe

Conference Paper, Proceedings of the IEEE Intelligent Vehicles Symposium, October, 1998
Super-Resolved Texture Tracking of Planar Surface Patches
Frank Dellaert, Chuck Thorpe and Sebastian Thrun

Conference Paper, IEEE/RSJ International Conference on Intelligent Robotic Systems, October, 1998
Mobility Planning for Autonomous Navigation of Multiple Robots in Unstructured Environments
Martial Hebert, Anthony (Tony) Stentz and Chuck Thorpe

Conference Paper, Proceedings of ISIC/CIRA/ISAS Joint Conference on the Science and Technology of Intelligent Systems, pp. 652 - 657, September, 1998
A Specialized Multibaseline Stereo Technique for Obstacle Detection
Todd Williamson and Chuck Thorpe

Conference Paper, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition, June, 1998
Qualitative and Quantitative Car Tracking from a Range Image Sequence
Liang Zhao and Chuck Thorpe

Conference Paper, Proceedings of IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 496-501, June, 1998
Model-Based Car Tracking Integrated with a Road-Follower
Frank Dellaert, Dean Pomerleau and Chuck Thorpe

Conference Paper, International Conference on Robotics and Automation, May, 1998
Detection of Small Obstacles at Long Range Using Multibaseline Stereo
Todd Williamson and Chuck Thorpe

Conference Paper, Proceedings of the 1998 IEEE International Conference on Intelligent Vehicles, January, 1998
Tactical-level Simulation for Intelligent Transportation Systems
Rahul Sukthankar, John Hancock and Chuck Thorpe

Journal Article, Journal on Mathematical and Computer Modeling, Special Issue on ITS, Vol. 27, No. 11-Sep, pp. 228 - 242, January, 1998
Mobile Robots and Smart Cars
Chuck Thorpe

Conference Paper, First International Conference on Field and Service Robotics, December, 1997
Overtaking Vehicle Detection Using Implicit Optical Flow
Parag Batavia, Dean Pomerleau and Chuck Thorpe

Conference Paper, Proceedings of the IEEE Transportation Systems Conference, pp. 729 - 734, November, 1997
The 1997 Automated Highway Free Agent Demonstration
Chuck Thorpe, Todd Jochem and Dean Pomerleau

Conference Paper, IEEE Conference on Intelligent Transportation Systems, pp. 496 - 501, November, 1997
A Distributed Tactical Reasoning Framework for Intelligent Vehicles
Rahul Sukthankar, Dean Pomerleau and Chuck Thorpe

Conference Paper, SPIE: Intelligent Systems and Advanced Manufacturing, October, 1997
Automated Highways and the Free Agent Demonstration
Chuck Thorpe, Todd Jochem and Dean Pomerleau

Conference Paper, International Symposium on Robotics Research, October, 1997
Functional Sensor Modeling for Automated Highway System Simulations
Cem Unsal, Rahul Sukthankar and Chuck Thorpe

Conference Paper, SPIE on Intelligent Systems & Advanced Manufacturing, Vol. 3207, October, 1997
Performance Specification Development For Roadway Departure Collision Avoidance Systems
Dean Pomerleau, Chuck Thorpe and Lloyd Emery

Conference Paper, Proceedings of the 4th World Congress on Intelligent Transportation Systems, October, 1997
An examination of the STRIPE vehicle teleoperation system
J.S. Kay and Chuck Thorpe

Conference Paper, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), Vol. 2, pp. 1152 - 1157, September, 1997
Map Building with Radar and Motion Sensors for Automated Highway Vehicle Navigation
K. Kimoto and Chuck Thorpe

Conference Paper, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), Vol. 3, pp. 1721 -1728, September, 1997
Mixed Traffic and Automated Highways
Chuck Thorpe

Conference Paper, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '97), Vol. 2, pp. 1011 -1017, September, 1997
A Hybrid Human-Computer Autonomous Vehicle Architecture
Michelle Bayouth, Illah Nourbakhsh and Chuck Thorpe

Conference Paper, Third ECPD International Conference on Advanced Robotics, Intelligent Automation and Control, January, 1997
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, January, 1997
Robust Car Tracking using Kalman filtering and Bayesian templates
Frank Dellaert and Chuck Thorpe

Conference Paper, Conference on Intelligent Transportation Systems, January, 1997
The 1997 Automated Highway Demonstration
Chuck Thorpe, Todd Jochem and Dean Pomerleau

Conference Paper, 1997 International Symposium on Robotics Research, January, 1997
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
Vision Based Intersection Navigation
Todd Jochem, Dean Pomerleau and Chuck Thorpe

Conference Paper, Proceedings of the 1996 IEEE Symposium on Intelligent Vehicles, pp. 391 - 396, September, 1996
Developing Planning and Reactive Control for a Hexapod Robot
David Wettergreen and Chuck Thorpe

Conference Paper, Proceedings of ICRA '96, Vol. 3, pp. 2718 - 2723, April, 1996
Mobile Robotics: Perspectives and Realities
Chuck Thorpe and Martial Hebert

Conference Paper, proceedings of International Workshop on Advanced Robotics and Intelligent Machines, April, 1996
A Simulation and Design System for Tactical Driving Algorithms
Rahul Sukthankar, John Hancock, Dean Pomerleau and Chuck Thorpe

Conference Paper, Proceedings of AI, Simulation and Planning in High Autonomy Systems, January, 1996
Adaptive Intelligent Vehicle Modules for Tactical Driving
Rahul Sukthankar, John Hancock, Shumeet Baluja, Dean Pomerleau and Chuck Thorpe

Conference Paper, Proceedings AAAI '96, January, 1996
SHIVA: Simulated Highways for Intelligent Vehicle Algorithms
Rahul Sukthankar, Dean Pomerleau and Chuck Thorpe

Conference Paper, Proceedings of Intelligent Vehicles '95, pp. 332 - 337, September, 1995
Vision Guided Lane Transition
Todd Jochem, Dean Pomerleau and Chuck Thorpe

Conference Paper, IEEE Symposium on Intelligent Vehicles, pp. 30 - 35, September, 1995
Combining Multiple Goals in a Behavior-Based Architecture
Julio Rosenblatt and Chuck Thorpe

Conference Paper, IEEE Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots (IROS '95), Vol. 1, pp. 136 - 141, August, 1995
ELVIS: Eigenvectors for Land Vehicle Image System
John Hancock and Chuck Thorpe

Conference Paper, Proceedings of the International Conference on Intelligent Robots and Systems. 'Human Robot Interaction and Cooperative Robots' (IROS '95), Vol. 1, pp. 35 - 40, August, 1995
Range Sensor based Outdoor Vehicle Navigation, Collision Avoidance and Parallel Parking
Dirk Langer and Chuck Thorpe

Journal Article, Autonomous Robots, Vol. 2, No. 2, pp. 147 - 161, August, 1995
The YARF System for Vision-Based Road Following
K. Kluge and Chuck Thorpe

Journal Article, Mathematical and Computer Modelling, Vol. 22, No. 7-Apr, pp. 213-233, August, 1995
Vision-Based Neural Network Road and Intersection Detection and Traversal
Todd Jochem, Dean Pomerleau and Chuck Thorpe

Conference Paper, IEEE Conference on Intelligent Robots and Systems (IROS '95), Vol. 3, pp. 344 - 349, August, 1995
Operator Interface Design Issues In A Low-Bandwidth And High-Latency Vehicle Teleoperation System
J. Kay and Chuck Thorpe

Conference Paper, International Conference on Environmental Systems, July, 1995
Robots, Transportation, and Society
Chuck Thorpe and Dean Pomerleau

Conference Paper, Proceedings of ISRR-7, January, 1995
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
AVCS Research at Carnegie Mellon University
Dean Pomerleau, Chuck Thorpe, Dirk Langer, Julio Rosenblatt and Rahul Sukthankar

Conference Paper, Proceedings of Intelligent Vehicle Highway Systems, January, 1994
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

Conference Paper, Proceedings of WORLD MED93, October, 1993
Machine Learning and Human Interface for the CMU Navlab
Chuck Thorpe

Conference Paper, Proc. IEEE Conference on Computer Vision for Space Applications, September, 1993
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
MANIAC: A Next Generation Neurally Based Autonomous Road Follower
Todd Jochem, Dean Pomerleau and Chuck Thorpe

Conference Paper, Proceedings of the International Conference on Intelligent Autonomous Systems, February, 1993
SCARF: A Color Vision System that Tracks Roads and Intersections
J. Crisman and Chuck Thorpe

Journal Article, IEEE Trans. on Robotics and Automation, Vol. 9, No. 1, pp. 49 - 58, February, 1993
STRIPE: Supervised TeleRobotics Using Incremental Polygonal Earth Geometry
J. Kay and Chuck Thorpe

Conference Paper, International Conference on Intelligent Autonomous Systems, pp. 399-406, February, 1993
Exploring Mount Erebus by Walking Robot
David Wettergreen, Chuck Thorpe and William (Red) L. Whittaker

Conference Paper, International Conference of Intelligent Autonomous Systems, pp. pp72-81, January, 1993
Exploring Mount Erebus by Walking Robot
David Wettergreen, Chuck Thorpe and William (Red) L. Whittaker

Journal Article, Robotics and Autonomous Systems, January, 1993
Intersection Detection in the YARF Road Following System
K. Kluge and Chuck Thorpe

Conference Paper, International Conference of Intelligent Autonomous Systems, pp. 145-154, January, 1993
Panacea: An Active Sensor Controller for the ALVINN Autonomous Driving System
Rahul Sukthankar, Dean Pomerleau and Chuck Thorpe

Conference Paper, Proceedings of the International Symposium on Robotics Research, January, 1993
Supervised Telerobotics Using Incremental Flat-Earth Geometry: STRIFE
J. Kay and Chuck Thorpe

Conference Paper, Proceedings of IAS-3, January, 1993
Keynote Address: Point-Counterpoint: Big Robots VS Little Robots
Chuck Thorpe

Conference Paper, 21st Applied Imagery Pattern Recognition Workshop, October, 1992
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
Gait Generation for Legged Robots
David Wettergreen and Chuck Thorpe

Conference Paper, Proceedings of the IROS '92 Conference, Vol. 2, pp. 1413 - 1420, July, 1992
Representation and Recovery of Road Geometry in YARF.
K. Kluge and Chuck Thorpe

Conference Paper, Proceedings of the Intelligent Vehicles '92 Symposium, pp. 114 -119, July, 1992
Sonar Based Outdoor Vehicle Navigation and Collision Avoidance
Dirk Langer and Chuck Thorpe

Conference Paper, Proceedings of the 1992 lEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '92), Vol. 2, pp. 1445 -1450, July, 1992
The New Generation System for the CMU Navlab
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Book Section/Chapter, Vision-Based Vehicle Guidance, January, 1992
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
Some Approaches to Finding Birds in Video Imagery
Paul E. Allen and Chuck Thorpe

Tech. Report, CMU-RI-TR-91-34, Robotics Institute, Carnegie Mellon University, December, 1991
Integrating Position Measurement and Image Understanding for Autonomous Vehicle Navigation
Chuck Thorpe, Omead Amidi, Jay Gowdy, Martial Hebert and D. Pomerleau.

Conference Paper, Proceedings of 2nd International Workshop on High Precision Navigation, November, 1991
Mobile Robots
Chuck Thorpe

Journal Article, International Journal of Pattern Recognition and Artificial Intelligence, Vol. 5, No. 3, August, 1991
Toward Autonomous Driving: The CMU Navlab. Part I: Perception
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Journal Article, IEEE Expert, Vol. 6, No. 4, pp. 31 - 42, August, 1991
Toward Autonomous Driving: The CMU Navlab. Part II: System and Architecture
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Journal Article, IEEE Expert, Vol. 6, No. 4, pp. 44 - 52, August, 1991
UNSCARF, A Color Vision System for the Detection of Unstructured Roads
J. Crisman and Chuck Thorpe

Conference Paper, Proceedings of IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2496 - 2501, April, 1991
Combining artificial neural networks and symbolic processing for autonomous robot guidance
Dean Pomerleau, Jay Gowdy and Chuck Thorpe

Journal Article, Engineering Applications of Artificial Intelligence, Vol. 4, No. 4, pp. 279 - 285, January, 1991
Navlab 90: Neighborhood Navigation
Chuck Thorpe

Miscellaneous, Refereed Video Proceedings of IEEE International Conference on Robotics and Automation, January, 1991
Outdoor visual navigation for autonomous robots
Chuck Thorpe

Journal Article, Robotics and Autonomous Systems 7, January, 1991
Annotated maps for autonomous land vehicles
Chuck Thorpe and Jay Gowdy

Conference Paper, Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, pp. 282 - 288, November, 1990
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
Planning Strategies for the Ambler Walking Robot
David Wettergreen, H. Thomas and Chuck Thorpe

Conference Paper, Proceedings of the 1990 IEEE International Conference on Systems Engineering, pp. 198 - 203, August, 1990
Single Leg Walking with Integrated Perception, Planning, and Control
Eric Krotkov, Reid Simmons and Chuck Thorpe

Conference Paper, Proceedings of the IEEE International Workshop on Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Vol. 1, pp. 97 - 102, July, 1990
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
Annotated Maps for Autonomous Land Vehicles
Chuck Thorpe and Jay Gowdy

Conference Paper, Proceedings of DARPA Image Understanding Workshop, January, 1990
Autonomous Navigation of Structured City Roads
D. Aubert, K. Kluge and Chuck Thorpe

Conference Paper, Proceedings of SPIE Mobile Robots V, January, 1990
Simulation of the Ambler Environment
H. Thomas, David Wettergreen and Chuck Thorpe

Conference Paper, Proceedings of 23rd Pittsburgh Conference on Modeling and Simulation, January, 1990
Against Complex Architectures
Anthony (Tony) Stentz and Chuck Thorpe

Conference Paper, Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology, pp. 308 - 311, June, 1989
Carnegie Mellon Navlab Vision
Chuck Thorpe and Takeo Kanade

Conference Paper, Proceedings of the 1989 DARPA Image Understanding Workshop, May, 1989
Explicit Models for Road Following
K. Kluge and Chuck Thorpe

Conference Paper, Proceedings of IEEE Conference on Robotics and Automation (ICRA '89), Vol. 2, pp. 1148 -1154, May, 1989
Against Complex Architectures
Anthony (Tony) Stentz and Chuck Thorpe

Conference Paper, Proceedings of AAAI Spring Symposium Series, March, 1989
1988 Year End Report for Road Following at Carnegie Mellon
Chuck Thorpe and Takeo Kannade

Tech. Report, CMU-RI-TR-89-05, Robotics Institute, Carnegie Mellon University, February, 1989
Color Vision for Road Following
J. Crisman and Chuck Thorpe

Conference Paper, Proceedings of SPIE Conference on Mobile Robots, November, 1988
Vision and navigation for the Carnegie-Mellon Navlab
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Journal Article, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 10, No. 3, pp. 362 - 373, May, 1988
1987 Year End Report for Road Following at Carnegie Mellon
Chuck Thorpe and Takeo Kanade

Tech. Report, CMU-RI-TR-88-04, Robotics Institute, Carnegie Mellon University, April, 1988
Geometric Camera Calibration using Systems of Linear Equations
K. Gremban, Chuck Thorpe and Takeo Kanade

Conference Paper, Proceedings of IEEE Conference on Robotics and Automation (ICRA '88), Vol. 1, pp. 562 - 567, April, 1988
Geometric Camera Calibration Using Systems of Linear Equations
K. Gremban, Chuck Thorpe and Takeo Kanade

Conference Paper, Proceedings of the 1988 DARPA Image Understanding Workshop, pp. 820-825, April, 1988
A Feasibility Study for Long Range Autonomous Underwater Vehicle
Martial Hebert, Chuck Thorpe, S. Dunn, J. Cushieri, P. Rushfeldt, W. Girodet and P. Schweitzer

Conference Paper, Proceedings of Fifth International Symposium on Unmanned Untethered Submersible Technology, June, 1987
1986 Year End Report for Road Following at Carnegie Mellon
Chuck Thorpe and Takeo Kanade

Tech. Report, CMU-RI-TR-87-11, Robotics Institute, Carnegie Mellon University, May, 1987
Book review: Robot Vision
Chuck Thorpe

Journal Article, American Scientist, May, 1987
Book review: Walking Machines: an Introduction to Legged Robots
Chuck Thorpe

Journal Article, American Scientist, March, 1987
Robotic Vehicles
Chuck Thorpe

Book Section/Chapter, Encyclopedia of Physical Science and Technology, January, 1987
Vision and Navigation for Carnegie Mellon Navlab
Chuck Thorpe, Martial Hebert, Takeo Kanade and Steven Shafer

Book Section/Chapter, Annual Review of Computer Science, Vol. 2, pp. 521-556, January, 1987
An Architecture for Sensor Fusion in a Mobile Robot
Steven Shafer, Anthony (Tony) Stentz and Chuck Thorpe

Tech. Report, CMU-RI-TR-86-09, Robotics Institute, Carnegie Mellon University, April, 1986
Integrated Path Planning and Dynamic Steering Control for Autonomous Vehicles
Bruce Krogh and Chuck Thorpe

Conference Paper, Proceedings of 1986 IEEE International Conference on Robotics and Automation (ICRA '86), pp. 1664 - 1669, April, 1986
Autonomous Land Vehicle Project at CMU
Takeo Kanade, Chuck Thorpe and William (Red) L. Whittaker

Conference Paper, Proc. 1986 ACM Computer Conference, February, 1986
CMU Strategic Computing Vision Project Report: 1984-1985
Takeo Kanade and Chuck Thorpe

Tech. Report, CMU-RI-TR-86-02, Robotics Institute, Carnegie Mellon University, November, 1985
Experiments and Thoughts on Visual Navigation
Chuck Thorpe, L. Matthies and Hans Moravec

Conference Paper, Proceedings of 1985 IEEE International Conference on Robotics and Automation, Vol. 2, pp. 830 - 835, March, 1985
Autonomous Mobile Robots, Annual Report
Hans Moravec, Alberto Elfes, Chuck Thorpe, L. Matthies, R.S. Wallace, Patrick Muir, Dong Hun Shin and Gregg Podnar

Tech. Report, CMU-RI-TR-86-04, Robotics Institute, Carnegie Mellon University, February, 1985
An Architecture for Autonomous Vehicle Navigation
Anthony (Tony) Stentz and Chuck Thorpe

Conference Paper, Proceedings of the Fourth International Symposium on Unmanned Untethered Submersible Technology, January, 1985
First Results in Robot Road-Following
R. Wallace, Anthony (Tony) Stentz, Chuck Thorpe, Hans Moravec, William (Red) L. Whittaker and Takeo Kanade

Conference Paper, Proceedings of the International Joint Conference on Artificial Intelligence, January, 1985
Vision and Navigation for the Carnegie Mellon Navlab
Chuck Thorpe and Takeo Kanade

Conference Paper, Proceedings of the 1985 DARPA Image Understanding Workshop, pp. 143-152, January, 1985
FIDO: Vision and Navigation for a Mobile Robot
Chuck Thorpe

PhD Thesis, Tech. Report, November, 1984
Experience with Visual Robot Navigation
L. H. Matthies and Chuck Thorpe

Conference Paper, Proceedings of IEEE Oceans-84, Vol. 16, pp. 594 - 597, September, 1984
Path Relaxation: Path Planning for a Mobile Robot
L.H. Matthies and Chuck Thorpe

Conference Paper, Proceedings of IEEE Oceans-84, Vol. 16, pp. 576 - 581, September, 1984
Path Relaxation: Path Planning for a Mobile Robot
Chuck Thorpe

Tech. Report, CMU-RI-TR-84-05, Robotics Institute, Carnegie Mellon University, April, 1984
An Analysis of Interest Operators for FIDO
Chuck Thorpe

Tech. Report, CMU-RI-TR-83-19, Robotics Institute, Carnegie Mellon University, December, 1983
Correspondence in Line Drawings of Multiple Views of Objects
Chuck Thorpe and Steven Shafer

Conference Paper, Proceedings of IJCAI-83, August, 1983
Underwater Landmark Identification
Chuck Thorpe

Conference Paper, Proceedings of the Second International Computer Engineering Conference American Society of Mechanical Engineers, August, 1982
Sonar Image Processing: AN Application of Template Matching Through Relaxation
Chuck Thorpe

Tech. Report, CMU-RI-TR-81-06, Robotics Institute, Carnegie Mellon University, October, 1981
2017-09-13T10:53:23+00:00