This paper deals with the computation of robust iris templates from video sequences. The main contribution is to propose (i) optimal tracking and robust detection of the pupil, (ii) smart selection of iris images to be enrolled, and (iii) multi-thread and quality-driven decomposition of tasks to reach real-time processing. The evaluation of the system was done on the Multiple Biometric Grand Ch...

The impressive results of the 2007 DARPA Urban Challenge showed that fully autonomous vehicles are technologically feasible with current intelligent vehicle hardware. It is natural to ask how current transportation infrastructure can be improved when most vehicles are driven autonomously in the future. Dresner and Stone proposed a new intersection control mechanism called Autonomous Intersectio...

The DARPA Urban Challenge required robotic vehicles to travel more than 90 km through an urban environment without human intervention and included situations such as stop intersections, traffic merges, parking, and roadblocks. Team VictorTango separated the problem into three parts: base vehicle, perception, and planning. A Ford Escape outfitted with a custom drive-by-wire system and computers ...

In this position paper, we argue that usable privacy and security is a grand challenge that needs more attention from the HCI community. We also discuss benefits to and new challenges for HCI, and use our research experiences to provide a critique of HCI. Usable Privacy and Security: A Grand Challenge for HCI Jason I. Hong Carnegie Mellon University 5000 Forbes Ave, Pittsburgh PA 15213

This paper presents a vision-based color segmentation algorithm suitable for urban environments that separates an image into areas of drivable and non-drivable terrain. Assuming that a part of the image is known to be drivable terrain, other parts of the image are classified by comparing the Euclidean distance of each pixel’s color to the mean colors of the drivable area in real-time. Moving th...

This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high precision navigation system, 5 cameras, 12 SICK planar laser range scanners, and a Velodyne high density laser range scanner were synchronized and logged to disk for 90km of travel. In addition to documenting a number of large loop closures useful for developing ma...

We present an approach that allows mission and contingency management to be achieved in a distributed and dynamic manner without any central control over multiple software modules. This approach comprises two key elements—a mission management subsystem and a Canonical Software Architecture (CSA) for a planning subsystem. The mission management subsystem works in conjunction with the planning su...

In recent years, all major automotive companies have launched initiatives towards cars that assist people in making driving decisions. The ultimate goal of all these efforts are cars that can drive themselves. The benefit of such a technology could be enormous. At present, some 42,000 people die every year in traffic accidents in the U.S., mostly because of human error. Self-driving cars could ...

The Defense Advanced Research Project Agency’s (DARPA) Urban Challenge, a contest that pitted robots against each other for 6 h without human intervention, was aimed at advancing the state-of-the-art in research for perception, planning, sensors, and situational awareness with the goal of military application. The event was a success, gaining national media attention for DARPA and robotics; but...

objective: this study aimed to evaluate the correlation between plasma lipid levels at first trimester of pregnancy and results of oral glucose challenge test (ogct). materials and methods:  in a cross - sectional descriptive analytic study, two hundred eligible primigravida women without history of diabetes mellitus referring to vali-e-asr hospital were evaluated. plasma levels of triglyceride...