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Computationally Efficient Path-Following using Adaptive Color Models

Stuart Glaser, Eitan Marder-Eppstein, and William D. Smart.
In "Proceedings of the 2008 International Conference on Artificial Intelligence (ICAI 08)", 2008.

The ability to follow man-made paths and roads is an important capability for a number of robotic tasks. To operate in outdoor environments designed for humans , autonomous robots must identify footpaths, and drive along them. In this pape r, we describe a computationally efficient approach to identifying and following footpaths, using only a single camera. Our technique takes the robot's kinemat ics into consideration when planning the best trajectory to follow the path that it is on. We show that our approach is highly robust to visual artifacts such as shadows, lighting changes, ground texture changes, and occlusions.

Paper: [PDF]

@inproceedings{icai08,
  author = {Glaser, Stuart and Marder-Eppstein, Eitan and Smart, William D.},
  title = {Computationally Efficient Path-Following using Adaptive Color Models},
  booktitle = {Proceedings of the 2008 International Conference on Artificial Intelligence (ICAI 08)},
  year = {2008}
}