Autonomous road following is a domain which spans a range of complexity from p r l y defmed, unmarked dirt roads to well defined, well marked, highly structured highways. The YARF system (for Yet Another Road Follower) is designed to operate in the middle of this range of complexity, driving on laban streets. Our research program has focused on the use of featureand situation-specific segmentat...

Simultaneous navigation and mapping (SLAM) of an autonomous underwater vehicle (AUV) based on side-scan sonar data has significant peculiarities that make standard SLAM techniques inapplicable. In particular, recognition of already visited places (loop closure) which is an important tool improving the navigation accuracy cannot be done with the raw sonar data. This and other navigation tasks ca...

This paper presents a path-tracking controller of a bi-steerable cybernetic car. The velocity planner is a fundamental block in the architecture. Its implementation uses fuzzy logic, and dynamic issues like vehicle ́s dynamics and road-vehicle interaction are taken into account. To make the travel as comfortable as possible for the passengers was one of the main objectives in the controller desi...

We present a system for the real-time generation of car navigation instructions with landmarks. Our system relies exclusively on freely available map data from OpenStreetMap, organizes its output to fit into the available time until the next driving maneuver, and reacts in real time to driving errors. We show that female users spend significantly less time looking away from the road when using ...

Nowadays, driving support systems, such as car navigation systems, are getting common, and they support drivers in several aspects. It is important for driving support systems to detect status of driver's consciousness. Particularly, detecting driver's drowsiness could prevent drivers from collisions caused by drowsy driving. In this paper, we discuss a system and a method for detecting driver'...

introduction Charles Thotpe and Takeo Kanade Previous Work Overview Chronology Personnel Publications Color Vision for Road Following Chades Thorpe and Jill Crisman 3-D Vision for Outdoor Navigation by an Autonomous Vehicle Martial Hebert and Takeo Kanade Knowledge-Based interpretation of Outdoor Road Scenes Takahiro Fujimori and Takeo Kanade Car Recognttion for the CMU Navlab Karl Kluge and Hi...

Nowadays, driving support systems, such as car navigation systems, are getting common, and they support drivers in several aspects. It is important for driving support systems to detect status of driver's consciousness. Particularly, detecting driver's drowsiness could prevent drivers from collisions caused by drowsy driving. In this paper, we discuss a system and a method for detecting driver'...

This letter presents a novel approach for traffic light detection in a video frame captured by an in-vehicle camera. The algorithm consists of rotated principal component analysis (RPCA), modified amplitude thresholding with respect to the histograms of the PC planes and final filtering with a neural network. The proposed algorithm achieves an average detection rate of 96% and is very robust to...