RoadCompass: following rural roads with vision + ladar using vanishing point tracking

Alon, Y., Ferencz, A., & Shashua, A. (2006). Off-road path following using region classification and geometric projection constraints. In Proc. IEEE conf. computer vision and pattern recognition. Apostoloff, N., & Zelinsky, A. (2003). Robust vision based lane tracking using multiple cues and particle filtering. In Proc. IEEE intelligent vehicles symposium. Avidan, S. (2003). Subset selection for efficient SVM tracking. In Proc. IEEE conf. computer vision and pattern recognition (pp. 85–92). Bacher, U., & Mayer, H. (2005). Automatic road extraction from multispectral high resolution satellite images. In ISPRS workshop CMRT: object extraction for 3d city models, road databases and traffic monitoring. Bouguet, J. (2001). Camera calibration toolbox for matlab. Available at www.vision.caltech.edu/bouguetj/calib_doc/. Accessed May 11, 2001. Chen, S., & Goodman, J. (1999). An empirical study of smoothing techniques for language modeling. Computer Speech and Language, 13, 359–394. Coughlan, J., & Yuille, A. (1999). Manhattan world: compass direction from a single image by Bayesian inference. In Proc. int. conf. computer vision. Coughlan, J., & Yuille, A. (2003). Manhattan world: Orientation and outlier detection by Bayesian inference. Neural Computation, 15(5), 1063–088. Cover, T., & Thomas, J. (1991). Elements of information theory. New York: Wiley. Cremean, L., Foote, T., Gillula, J., Hines, G., Kogan, D., Kriechbaum, K., Lamb, J., Leibs, J., Lindzey, L., Rasmussen, C., Stewart, A., Burdick, J., & Murray, R. (2006). Alice: An information-rich autonomous system for high speed desert navigation. Journal of Field Robotics, 23(9). Crisman, J., & Thorpe, C. (1991). UNSCARF, a color vision system for the detection of unstructured roads. In Proc. IEEE int. conf. robotics and automation (pp. 2496–2501). Defense Advanced Research Projects Agency (DARPA) (2003). DARPA grand challenge. Available at http://www.darpa.mil/grandchallenge. Accessed July 22, 2003. Dellaert, F., Pomerleau, D., & Thorpe, C. (1998). Model-based car tracking integrated with a road-follower. In Proc. IEEE int. conf. robotics and automation. Feng, X., & Milanfar, P. (2002). Multiscale principal components analysis for image local orientation estimation. In Asilomar conference on signals, systems and computers. Finlayson, G., Hordley, S., Lu, C., & Drew, M. (2006). On the removal of shadows from images. IEEE Transactions Pattern Analysis and Machine Intelligence, 28(1). Freeman, W., & Adelson, E. (1991). The design and use of steerable filters. IEEE Transactions Pattern Analysis and Machine Intelligence, 13(9), 891–906. Frigo, M., & Johnson, S. (1998). FFTW: An adaptive software architecture for the FFT. In Proc. 1998 IEEE intl. conf. acoustics speech and signal processing (Vol. 3, pp. 1381–1384). Géraud, T., & Mouret, J. (2004). Fast road network extraction in satellite images using mathematical morphology and Markov random fields. EURASIP Journal on Applied Signal Processing, 16, 2503–2514. Isard, M., & Blake, A. (1996). Contour tracking by stochastic propagation of conditional density. In Proc. European conf. computer vision (pp. 343–356). Kluge, K., & Morgenthaler, M. (2004). Multi-horizon reactive and deliberative path planning for autonomous cross-country navigation. In SPIE defense and security symposium. Korah, T., & Rasmussen, C. (2004). Probabilistic contour extraction with model switching for vehicle localization. In Proc. IEEE intelligent vehicles symposium. Kosecka, J., & Zhang, W. (2002). Video compass. In Proc. European conf. computer vision. Lee, T. (1996). Image representation using 2D Gabor wavelets. IEEE Transactions Pattern Analysis and Machine Intelligence, 18(10), 959–971. Ollis, M., & Stentz, A. (1997). Vision-based perception for an autonomous harvester. In Proc. int. conf. intelligent robots and systems (pp. 1838–1844). Polk, A., & Jain, R. (1992). A parallel architecture for curvature-based road scene classification. In I. Masaki (Ed.), Vision-based vehicle guidance (pp. 284–299). Berlin: Springer. Rasmussen, C. (2002). Combining laser range, color, and texture cues for autonomous road following. In Proc. IEEE int. conf. robotics and automation. Rasmussen, C. (2004a). Grouping dominant orientations for ill-structured road following. In Proc. IEEE conf. computer vision and pattern recognition. Rasmussen, C. (2004b). Texture-based vanishing point voting for road shape estimation. In Proc. British machine vision conference. Rasmussen, C. (2006). A hybrid vision + ladar rural road follower. In Proc. IEEE int. conf. robotics and automation. Rasmussen, C., & Korah, T. (2005). On-vehicle and aerial texture analysis for vision-based desert road following. In IEEE workshop on machine vision for intelligent vehicles. Rasmussen, C., & Ulrich, W. (2006). Adaptive road image segmentation from ladar-derived labels. In Workshop on the DARPA grand challenge at robotics: science and systems. Schaffalitzky, F., & Zisserman, A. (2000). Planar grouping for automatic detection of vanishing lines and points. Image and Vision Computing, 9(18), 647–658. Se, S. (2000). Zebra-crossing detection for the partially sighted. In Proc. IEEE conf. computer vision and pattern recognition (pp. 211–217). Se, S., & Brady, M. (2000). Vision-based detection of staircases. In Proc. Asian conf. computer vision (pp. 535–540). Simond, N., & Rives, P. (2003). Homography from a vanishing point in urban scenes. In Proc. int. conf. intelligent robots and systems. Southall, B., & Taylor, C. (2001). Stochastic road shape estimation. In Proc. int. conf. computer vision (pp. 205–212). Square One Research (2005). Solar position calculator. Available at www.sq1.com/solar/solar-position.html. Accessed August, 2005. Stavens, D., & Thrun, S. (2006). A self-supervised terrain roughness estimator for off-road autonomous driving. In Proceedings of the conference on uncertainty in AI. Stentz, A., Kelly, A., Rander, P., Herman, H., Amidi, O., Mandelbaum, R., Salgian, G., & Pedersen, J. (2003). Real-time, multi-perspective perception for unmanned ground vehicles. In AUVSI. Taylor, C., Malik, J., & Weber, J. (1996). A real-time approach to stereopsis and lane-finding. In Proc. IEEE intelligent vehicles symposium. Thrun, S., Montemerlo, M., Dahlkamp, H., Stavens, D., Aron, A., Diebel, J., Fong, P., Gale, J., Halpenny, M., Hoffmann, G., Lau, K., Oakley, C., Palatucci, M., Pratt, V., Stang, P., Strohband, S., Dupont, C., Jendrossek, L.-E., Koelen, C., Markey, C., Rummel, C., van Niekerk, J., Jensen, E., Alessandrini, P., Bradski, G., Davies, B., Ettinger, S., Kaehler, A., Nefian, A., & Mahoney, P. (2006). Stanley, the robot that won the DARPA grand challenge. Journal of Field Robotics, 23(9). Turina, A., Tuytelaars, T., & Van Gool, L. (2001). Efficient grouping under perspective skew. In Proc. IEEE conf. computer vision and pattern recognition. Tuytelaars, T., Proesmans, M., & Van Gool, L. (1998). The cascaded Hough transform. In Proc. IEEE int. conf. on image processing. Urmson, C., Anhalt, J., Bartz, D., Clark, M., Galatali, T., Gutierrez, A., Harbaugh, S., Johnston, J., Kato, H., Koon, P., Messner, W., Miller, N., Mosher, A., Peterson, K., Ragusa, C., Ray, D., Smith, B., Snider, J., Spiker, S., Struble, J., Ziglar, J., & Whittaker, W. (2006). A robust approach to high-speed navigation for unrehearsed desert terrain. Journal of Field Robotics, 23(8), 467–508. Yuille, A., & Coughlan, J. (2000). Fundamental limits of Bayesian inference: Order parameters and phase transitions for road tracking. IEEE Transactions Pattern Analysis and Machine Intelligence, 22(2), 160–173. Zhang, J., & Nagel, H. (1994). Texture-based segmentation of road images. In Proc. IEEE Intelligent Vehicles Symposium.