The Design and Use of Steerable Filters
IEEE Transactions on Pattern Analysis and Machine Intelligence
Elements of information theory
Elements of information theory
A parallel architecture for curvature-based road scene classification
Vision-based vehicle guidance
Image Representation Using 2D Gabor Wavelets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fundamental Limits of Bayesian Inference: Order Parameters and Phase Transitions for Road Tracking
IEEE Transactions on Pattern Analysis and Machine Intelligence
Contour Tracking by Stochastic Propagation of Conditional Density
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
Manhattan world: orientation and outlier detection by Bayesian inference
Neural Computation
Manhattan World: Compass Direction from a Single Image by Bayesian Inference
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
On-Vehicle and Aerial Texture Analysis for Vision-Based Desert Road Following
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
On the Removal of Shadows from Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Off-road Path Following using Region Classification and Geometric Projection Constraints
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Alice: An information-rich autonomous vehicle for high-speed desert navigation: Field Reports
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Stanley: The robot that won the DARPA Grand Challenge: Research Articles
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
EURASIP Journal on Applied Signal Processing
Subset selection for efficient SVM tracking
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Finding multiple lanes in urban road networks with vision and lidar
Autonomous Robots
Appearance contrast for fast, robust trail-following
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
General road detection from a single image
IEEE Transactions on Image Processing
Tracking natural trails with swarm-based visual saliency
Journal of Field Robotics
A fast vanishing point detection method in structured road
IScIDE'12 Proceedings of the third Sino-foreign-interchange conference on Intelligent Science and Intelligent Data Engineering
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We present a vision- and ladar-based approach to autonomous driving on rural and desert roads that has been tested extensively in a closed-loop system. The vision component uses Gabor wavelet filters for texture analysis to find ruts and tracks from which the road vanishing point can be inferred via Hough-style voting, yielding a direction estimate for steering control. The ladar component projects detected obstacles along the road direction onto the plane of the front of the vehicle and tracks the 1-D obstacle "gap" presumed due to the road to yield a lateral offset estimate. Several image- and state-based tests to detect failure conditions such as off-road poses (i.e., there is no road to follow) and poor lighting due to sun glare or distracting shadows are also explained. The system's efficacy is demonstrated with analysis of diverse logged data including from the 2005 DARPA Grand Challenge, as well as tests with full control of a vehicle over 15 km of difficult roads at up to 37 km/h with no waypoints.