This paper describes a system for detecting and estimating the properties of multiple travel lanes in an urban road network from calibrated video imagery and laser range data acquired by a moving vehicle. The system operates in real-time in several stages on multiple processors, fusing detected road markings, obstacles, and curbs into a stable non-parametric estimate of nearby travel lanes. The...

1 Institute for Studies in Theoretical Physics and Mathematics, P.O.Box 5746, Tehran 19395, Iran. 2 Department of Physics, Alzahra University, Tehran 19834, Iran 3 Department of Physics, Sharif University of Technology, P.O.Box 9161, Tehran 11365, Iran. 4 Department of Physics, Tehran University, North-Kargar Ave. Tehran, Iran. 5 Institute for Advanced Studies in Basic Sciences, P.O.Box 159, Ga...

Zusammenfassung Mit der Urban Challenge hat die DARPA Ende 2007 ihr erklärtes Ziel erreicht, nachzuweisen, dass autonomes Fahren prinzipiell möglich ist. In diesem Ar-tikel wird skizziert, welcher Stand tatsächlich erreicht wurde und welche Herausforderungen nun bearbeitet werden wollen. Summary Late in 2007, DARPA has conducted the Urban Challenge and achieved its declared goal, that autonomou...

This paper describes a system for detecting and estimating the properties of multiple travel lanes in an urban road network from calibrated video imagery and laser range data acquired by a moving vehicle. The system operates in several stages on multiple processors, fusing detected road markings, obstacles, and curbs into a stable non-parametric estimate of nearby travel lanes. The system incor...

This article presents the architecture of Junior, a robotic vehicle capable of navigating urban environments autonomously. In doing so, the vehicle is able to select its own routes, perceive and interact with other traffic, and execute various urban driving skills including lane changes, U-turns, parking, and merging into moving traffic. The vehicle successfully finished and won second place in...

The assembly of local communities from regional species pools is shaped by historical aspects of distribution, environmental conditions, and biotic interactions. We studied local community assembly patterns in African annual killifishes of the genus Nothobranchius (Cyprinodontiformes), investigating data from 168 communities across the entire range of regionally co-existing species. Nothobranch...

Team Oshkosh, composed of Oshkosh Corporation, Teledyne Scientific and Imaging Company, VisLab of the University of Parma, Ibeo Automotive Sensor GmbH, and Auburn University, participated in the DARPA Urban Challenge and was one of the 11 teams selected to compete in the final event. Through development, testing, and participation in the official events, we experimented and demonstrated autonom...

This paper describes a system for detecting and estimating the properties of multiple travel lanes in an urban road network from calibrated video imagery and laser range data acquired by a moving vehicle. The system operates in real-time in several stages on multiple processors, fusing detected road markings, obstacles, and curbs into a stable non-parametric estimate of nearby travel lanes. The...

We present the motion planning framework for an autonomous vehicle navigating through urban environments. Such environments present a number of motion planning challenges, including ultrareliability, high-speed operation, complex intervehicle interaction, parking in large unstructured lots, and constrained maneuvers. Our approach combines a model-predictive trajectory generation algorithm for c...