Journal ArticleDOI
Autonomous robotic vehicle road following
D. T. Kuan,G. Phipps,A.-C. Hsueh +2 more
TLDR
A description is given of the system architecture of an autonomous vehicle and its real-time adaptive vision system for road-following, which is a 10-ton armored personnel carrier modified for robotic control.Abstract:
A description is given of the system architecture of an autonomous vehicle and its real-time adaptive vision system for road-following. The vehicle is a 10-ton armored personnel carrier modified for robotic control. A color transformation that best discriminates road and nonroad regions is derived from labeled data samples. A maximum-likelihood pixel classification technique is then used to classify pixels in the transformed color image. The vision system adapts itself to road changes in two ways; color transformation parameters are updated infrequently to accommodate significant road color changes, and classifier parameters are updated every processing cycle to deal with gradual color and intensity changes. To reduce unnecessary computation, only the most likely road region in the segmented image is selected, and a polygonal representation of the detected road region boundary is transformed from the image coordinate system to the local vehicle coordinate system based on a flat-earth assumption. >read more
Citations
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Proceedings ArticleDOI
ALVINN: An Autonomous Land Vehicle in a Neural Network
TL;DR: ALVINN (Autonomous Land Vehicle In a Neural Network) is a 3-layer back-propagation network designed for the task of road following that can effectively follow real roads under certain field conditions.
Patent
GPS vehicle collision avoidance warning and control system and method
TL;DR: In this article, an automotive auto-pilot mode is provided, which generates control signals which actuate a plurality of control systems of the one vehicle in a coordinated manner to maneuver it laterally and longitudinally to avoid each collision hazard, or, for motor vehicles, when a collision is unavoidable, to minimize injury or damage therefrom.
Patent
Vision system for vehicle
Kenneth Schofield,Niall R. Lynam +1 more
TL;DR: In this article, a forward-facing vision system for a vehicle includes a forwardfacing camera disposed in a windshield electronics module attached at a windshield of the vehicle and viewing through the windshield.
Patent
Vehicle position determination system and method
James W. Sennott,Christos T Kyrtsos,Adam J. Gudat,Dana A. Christensen,Douglas W Friedrich,Darrell E. Stafford +5 more
TL;DR: In this article, the first and second position estimates are combined and filtered using novel techniques to derive a more accurate third position estimate of the vehicle's position, which can be used for autonomous navigation.
Patent
Integrated vehicle positioning and navigation system, apparatus and method
Walter J. Bradbury,Dana A. Christensen,Richard G. Clow,Lonnie J. Devier,Douglas W Friedrich,Adam J. Gudat,Carl A. Kemner,Karl W. Kleimenhagen,Craig L. Koehrsen,Christos T Kyrtsos,Norman K Lay,Joel L. Peterson,Prithvi N. Rao,Larry E. Schmidt,James W. Sennott,Garry K. Shaffer,Wenfan Shi,Dong Hun Shin,Sanjiv Singh,Darrell E. Stafford,Louis J. Weinbeck,Jay H. West,William Whittaker,Baoxin Wu +23 more
TL;DR: In this article, a first position estimate (112) of the vehicle (102,310) is derived from satellites (132-170,200-206) of a global positioning system (100A) and/or a pseudolite(s) (105).
References
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