/Dean Pomerleau

Dean Pomerleau

Portrait of Dean Pomerleau
Adjunct Faculty
Email: dp2u@andrew.cmu.edu
Personal Homepage
Mailing Address

The goal of my work is to bring computer vision and robotics to the common man by creating systems that make the task of driving easier and safer. A key system requirement in the domain of driving is the ability to adapt to changing conditions, since the appearance of the car’s surroundings can change dramatically depending on environmental conditions and the type of road the car is on. My work and that of my students focuses on the development of adaptive techniques to achieve this flexibility.

Collision Warning/Avoidance Systems: Over forty thousand people die on US roads every year in traffic accidents. One of my goals is to save some of these lives through the development of systems that warn the driver of impending collisions, and potentially take momentary control of the vehicle to prevent a crash. My students and I are currently focused on the problem of single vehicle roadway departure crashes, in which the vehicle drifts off the road because the driver isn’t paying attention, has fallen asleep, or is in some way impaired (intoxicated, medical emergency, etc.). Using a video camera to monitor the road ahead, in conjunction with digital maps, we are developing prototype systems on the Navlab test vehicle that sound an audible tone when the vehicle begins to drift from its lane. If the driver doesn’t respond to the warning, the system can assume momentary control of the steering wheel to return the vehicle to the roadway. Critical research issues associated with the problem include reliable perception of the vehicle’s surroundings to minimize false alarms, adaptive warning algorithms to accommodate different driving styles, and man-machine interfaces to effectively alert the driver and avoid the crash.

Automated Highway System (AHS): A more futuristic effort my students and I are involved in is the Automated Highway System (AHS). The ambitious goal of this project is to improve safety and reduce congestion on our nations highways by fully automating the driving task. A key research issue in this domain is reliable perception of the road, other vehicles and obstacles. We are investigating solutions to this problem using various image processing techniques, as well as alternative sensing modalities like infrared lasers and millimeter wave radar. Another important area we are addressing is the planning and coordination of vehicle maneuvers such as lane changes and obstacle avoidance. Finally, we are developing control techniques that allow the vehicle to actually execute these maneuvers.

Using the results of our research, we have demonstrated systems capable of autonomously driving the Navlab vehicle for long distances at speeds of up to 90 mph. One such vision system, called RALPH (Rapidly Adapting Lateral Position Handler) steered the Navlab for 98.2% of a trip from Washington, DC to San Diego, CA, a distance of over 2800 miles. When augmented with a millimeter wave radar for sensing obstacles, the system can detect vehicles ahead and automatically change lanes when appropriate.

Displaying 83 Publications
Effective Semi-autonomous Telepresence
Brian Coltin, Joydeep Biswas, Dean Pomerleau and Manuela Veloso

Conference Paper, Proceedings of the RoboCup Symposium, Istanbul, Turkey, July 2011, July, 2011
Zero-Shot Learning with Semantic Output Codes
Mark Palatucci, Dean Pomerleau, Geoffrey Hinton and Tom Mitchell

Conference Paper, Neural Information Processing Systems (NIPS), December, 2009
Bootstrap a statistical brain atlas
Mei Chen, Takeo Kanade and Dean Pomerleau

Conference Paper, Fifth IEEE Workshop on Applications of Computer Vision, pp. 114 - 119, December, 2000
Probabilistic Registration of 3-D Medical Images
Mei Chen, Takeo Kanade, Dean Pomerleau and Jeff Schneider

Tech. Report, CMU-RI-TR-99-16, Robotics Institute, Carnegie Mellon University, July, 1999
3-D Deformable Registration of Medical Images Using a Statistical Atlas
Mei Chen, Takeo Kanade, Dean Pomerleau and Jeff Schneider

Tech. Report, CMU-RI-TR-98-35, Robotics Institute, Carnegie Mellon University, Proceedings of the Second International Conference on Medical Imag Computing & Computer-Assisted Intervention, December, 1998
Medical Image – Atlas Registration Using Deformable Models for Anomaly Detection
Mei Chen, Takeo Kanade and Dean Pomerleau

Conference Paper, Proceedings of the Image Understanding Workshop, November, 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
Anomaly Detection through Registration
Mei Chen, Takeo Kanade, Henry Rowley and Dean Pomerleau

Conference Paper, IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 304 - 310, June, 1998
Quantitative Study of Brain Anatomy
Mei Chen, Takeo Kanade, Henry Rowley and Dean Pomerleau

Conference Paper, 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
Quantitative Study of Brain Anatomy
Mei Chen, Takeo Kanade, Henry Rowley and Dean Pomerleau

Tech. Report, CMU-RI-TR-98-05, Robotics Institute, Carnegie Mellon University, March, 1998
Expectation-based selective attention for visual monitoring and control of a robot vehicle
Shumeet Baluja and Dean Pomerleau

Journal Article, Robotics and Autonomous Systems, Vol. 22, No. 4-Mar, pp. 329-344, December, 1997
Anomaly detection through registration
Mei Chen, Takeo Kanade, Dean Pomerleau and Henry Rowley

Conference Paper, NASA Image Registration Workshop, November, 1997
Anomaly Detection through Registration
Mei Chen, Takeo Kanade, Henry Rowley and Dean Pomerleau

Tech. Report, CMU-RI-TR-97-41, Robotics Institute, Carnegie Mellon University, November, 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
Visibility Estimation from a Moving Vehicle Using the RALPH Vision System
Dean Pomerleau

Conference Paper, IEEE Conference on Intelligent Transportation Systems, pp. 906 - 911, 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
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
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

Conference Paper, 30th International Symposium on Automotive Technology and Automation, pp. 343-350, June, 1997
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
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
Dynamic Relevance: Vision-based focus of attention using artificial neural networks
Shumeet Baluja and Dean Pomerleau

Conference Paper, Artificial Intelligence 97, pp. 381-395, January, 1997
The 1997 Automated Highway Demonstration
Chuck Thorpe, Todd Jochem and Dean Pomerleau

Conference Paper, 1997 International Symposium on Robotics Research, January, 1997
Vision-Based Neural Network Road and Intersection Detection
Todd Jochem and Dean Pomerleau

Book Section/Chapter, In Intelligent Unmanned Ground Vehicles, 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
Driving Simulator Tests of Lane Separture Collision Avoidance Systems
Louis Tijerina, James J. Jackson, Dean Pomerleau, Richard A. Romano and Andrew D. Pertersen

Conference Paper, ITS America Sixth Annual Meeting, April, 1996
Image Processor Drives Across America
Dean Pomerleau and Todd Jochem

Journal Article, Photonics Spectra, pp. 80-85, April, 1996
Rapidly Adapting Machine Vision for Automated Vehicle Steering
Dean Pomerleau and Todd Jochem

Journal Article, IEEE Expert: Special Issue on Intelligent System and their Applications, Vol. 11, No. 2, pp. 19-27, April, 1996
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

Conference Paper, International Congress 81 Exposition, February, 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
Life in the Fast Lane: The Evolution of an Adaptive Vehicle Control System
Todd Jochem and Dean Pomerleau

Journal Article, AI Magazine, Vol. 17, No. 2, January, 1996
PANS: A Portable Navigation Platform
Todd Jochem, Dean Pomerleau, Bala Kumar and Jeremy Armstrong

Conference Paper, IEEE Symposium on Intelligent Vehicles, pp. 107 - 112, September, 1995
RALPH: Rapidly Adapting Lateral Position Handler
Dean Pomerleau

Conference Paper, IEEE Symposium on Intelligent Vehicles, pp. 506 - 511, September, 1995
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
AURORA: A Vision-Based Roadway Departure Warning System
Mei Chen, Todd Jochem and Dean Pomerleau

Conference Paper, IEEE Conference on Intelligent Robots and Systems, Human Robot Interaction and Cooperative Robots, Vol. 1, pp. 243 - 248, 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
Using the Representation in a Neural Network’s Hidden Layer For Task-Specific Focus of Attention
Shumeet Baluja and Dean Pomerleau

Tech. Report, CMU-CS-95-143, Computer Science Department, Carnegie Mellon University, May, 1995
Demonstration of an Autonomous Convoying Concept
B. Motazed, D. Patukas, Alonzo Kelly, Dean Pomerleau and Todd Jochem

Conference Paper, Proceedings of the Fifth Annual Meeting of IVHS America, March, 1995
Neural Network Vision for Robot Driving
Dean Pomerleau

Book Section/Chapter, The Handbook of Brain Theory and Neural Networks, January, 1995
Robots, Transportation, and Society
Chuck Thorpe and Dean Pomerleau

Conference Paper, Proceedings of ISRR-7, January, 1995
Using a Saliency Map for Active Spatial Selective Attention: Implementation & Initial Results
Shumeet Baluja and Dean Pomerleau

Book Section/Chapter, Advances in Neural Information Processing Systems, pp. 451-458, January, 1995
A Connectionist Technique for Accelerated Textual Input: Letting a Network Do The Typing
Dean Pomerleau

Conference Paper, Neural Information Processing Systems 7 (NIPS 7), December, 1994
Defense and Civilian Applications of the ALVINN Robot Driving System
Dean Pomerleau

Conference Paper, 1994 Government Microcircuit Applications Conference, pp. 358-362, November, 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
Neural network based vision for precise control of a walking robot
Dean Pomerleau

Journal Article, Machine Learning, Vol. 15, pp. 125-135, January, 1994
Non-Intrusive Gaze Tracking Using Artificial Neural Networks
Shumeet Baluja and Dean Pomerleau

Tech. Report, CMU-CS-94-102, Computer Science Department, Carnegie Mellon University, January, 1994
Reconstructing physical symbol systems
David S. Touretzky and Dean Pomerleau

Journal Article, Cognitive Science, Vol. 18, No. 2, pp. 345-353, January, 1994
Reliability Estimation for Neural Network Based Autonomous Driving
Dean Pomerleau

Journal Article, Robotics and Autonomous Systems, Vol. 12, pp. 113-119, January, 1994
Sensor Performance and Weather Effects Modeling for Intelligent Transportation Systems
J. Everson, E. Kopala, L. Lazofson, H. Choe and Dean Pomerleau

Conference Paper, (ITS) Applications, Proceedings of SPIE International Symposium on Photonics for Electronic Products, Vol. 2344, January, 1994
Simulating a Users Preferences: Toward Automated Artificial Evolution for Computer Generated Images.
Shumeet Baluja, Dean Pomerleau and Todd Jochem

Journal Article, Journal of Connection Science, Vol. 6, No. 2 and 3, pp. 325-354, January, 1994
Towards Automated Artificial Evolution for Computer-generated Images
Shumeet Baluja, Dean Pomerleau and Todd Jochem

Journal Article, Connection Science, Vol. 6, No. 2 & 3, pp. 325-354, January, 1994
Using a Saliency Map for Active Spatial Selective Attention: Implementation & Initial Results
Shumeet Baluja and Dean Pomerleau

Conference Paper, Advances in Neural Information Processing Systems, Vol. 6, pp. 753-760, January, 1994
Simulating User’s Preferences: Towards Automated Artificial Evolution for Computer Generated Images
Shumeet Baluja, Dean Pomerleau and Todd Jochem

Tech. Report, CMU-CS-93-198, Computer Science Department, Carnegie Mellon University, October, 1993
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
Neural Networks for Intelligent Vehicles
Dean Pomerleau

Conference Paper, Proceedings of the 1993 Intelligent Vehicles Conference, pp. 19 - 24, July, 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
Analysis of Feature Detectors Learned by a Neural Network Autonomous Driving System
Dean Pomerleau and David S. Touretzky

Conference Paper, International Conference on Intelligent Autonomous Systems (IAS-3) contitle:Understanding Neural Network Internal Representations through Hidden Unit Sensitivity Analysis, pp. 572-581, February, 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
Input Reconstruction Reliability Estimation
Dean Pomerleau

Book Section/Chapter, Advances in Neural Information Processing Systems, January, 1993
Non-Intrusive Gaze Tracking Using Artificial Neural Networks
Shumeet Baluja and Dean Pomerleau

Conference Paper, Working Notes: AAAI Fall Symposium Series, Machine Learning in Computer Vision: What, Why and How?, 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
Understanding Neural Network Internal Representations through Hidden Unit Sensitivity Analysis
Dean Pomerleau and David S. Touretzky

Conference Paper, Proceedings of the International Conference on Intelligent Autonomous Systems, January, 1993
Autonomous Cargo Transport System
Kerien Fitzpatrick, Martial Hebert, Dean Pomerleau and Hagen Schempf

Conference Paper, Proceedings of the United States Postal Service 5th Advanced Technology Conference, December, 1992
Progress in Neural Network-based Vision for Autonomous Robot Driving
Dean Pomerleau

Conference Paper, Proceedings of the 1992 Intelligent Vehicles Conference, pp. 391-396, June, 1992
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
Efficient Training of Artificial Neural Networks for Autonomous Navigation
Dean Pomerleau

Journal Article, Neural Computation, Vol. 3, No. 1, pp. 88-97, January, 1991
Neural network-based vision processing for autonomous robot guidance
Dean Pomerleau

Conference Paper, Proceedings of SPIE Conference on Aerospace Sensing, January, 1991
Rapidly Adapting Artificial Neural Networks for Autonomous Navigation
Dean Pomerleau

Conference Paper, Advances in Neural Information Processing Systems 3, pp. 429-435, January, 1991
Back Propagation on Warp
G.L. Gusciora, Dean Pomerleau, David S. Touretzky and H.T. Kung

Book Section/Chapter, Artificial Neural Networks: Applications and Implementations, January, 1990
Neural network based autonomous navigation
Dean Pomerleau

Book Section/Chapter, Vision and Navigation: The CMU Navlab, pp. 83-92, January, 1990
Understanding Neural Network Simulator Performance
Dean Pomerleau

Journal Article, Neural Network Review, Vol. 4 pub_number: 1, January, 1990
What’s hidden in the hidden units?
David S. Touretzky and Dean Pomerleau

Journal Article, BYTE, Vol. 14 pub_number: 8, pp. 227-233, August, 1989
ALVINN: An Autonomous Land Vehicle In a Neural Network
Dean Pomerleau

Conference Paper, Advances in Neural Information Processing Systems 1, January, 1989
Neural network simulation at Warp speed: How we got 17 million connections per second
Dean Pomerleau, G.L. Gusciora, David S. Touretzky and H.T. Kung

Conference Paper, Proceedings of IEEE International Joint Conference on Neural Networks, Vol. 2, pp. 143 - 150, July, 1988
The meta-generalized delta rule: A new algorithm for learning in connectionist networks
Dean Pomerleau

Tech. Report, CMU-CS-87-165, Robotics Institute, Carnegie Mellon University, September, 1987

Past RI Students

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