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Autonomous Off-Road Driving
Head: George A. Kantor
Contact: George A. Kantor
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Ave
Pittsburgh, PA 15213
Associated center(s) / consortia:
 Field Robotics Center (FRC)
Overview
We are developing autonomous technology for off-road driving in wilderness environments Key developments include perception, planning and control capabilities. This is a joint development with Yamaha Motor Corporation and the CMU Field Robotics Center.

- Pose Estimation: Fuse multiple sensors (camera, LIDAR & IMU) with GPS to enhance accurate local mapping and to cope with GPS-degraded situations.

- Classification: Use Pose Estimation to reconstruct local geometry, use convolutional neural network approach to semantically label visible objects.

- Global Planning: Use publicly available aerial imagery and digital elevation maps to plan long trips.

- Local Planning: Build mesh model of local terrain from LIDAR data, simulate vehicle travel for candidate paths to find best local path.