ICRA2007 Workshop

Perception, Planning and Navigation for Intelligent Vehicles

Rome, April 14, 2007

Proceedings of the event

8:30 -8:40 Opening (PDF version)

Session S1: Simulation Software and Sensors

8:40-9:00 A laser range scanner simulation for probabilistic object tracking

H. Blume and B. Heimann, U. Hannover, Germany

9:00-9:20 Object detection in bisonar based robot navigation

M. Beiji and A. Zell, U. Tuebingen, Germany

9:20-9:40 Cybernetic transportation systems design and development: simulation software

S. Boissé, R. Benenson, L. Bouraoui, M. Parent (INRIA, FR), L. Vlacic (U. Griffith, AU)

9:40-10:20 Invited Talk - Cybercars for everyone

Michel Parent, INRIA-Rocquencourt, FR

10:20-10:40 Coffee Break

Session S2: Vision-based Perception

10:40 – 11:00 Applying kalman filtering to road homography estimation

J.Klappstein, F. Stein, and Uwe Franke; DaimlerChrysler, Germany

11:00 – 11:20 Toward a comparative study of lane tracking using omni-directional and rectilinear images for driver assistance systems

S.Cheng, and M. Trivedi, U. California at San Diego, USA

11:20 – 11:40 Improved vision-based pedestrian detection system for collision avoidance

M. Sotelo, D. Fernandez, I. Parra (U. Alcalá) and E. Naranjo (CSIC), Spain

11:40 – 12:00 Stereo based pedestrian detection for collision avoidance applications

S. Nedevschi, C. Tomiuc, and S. Bota, TU. Cluj-Napoca, Romania

12:00 – 12:20 A hierachical fuzzy integration of local and global feature-based classifiers to recognize objects in autonomous vehicles

L. Oliveira, P. Peixoto, and U. Nunes, ISR - U. Coimbra, Portugal

12:20 – 14:00 Lunch

14:00 – 14:40 Invited Talk - Holistic sensing and dynamic displays for human-centric active safety

Mohan Trivedi, U. of California at San Diego, USA

Session S3: Planning, Navigation and Control I

14:40 – 15:00 Navigation of a non-holonomic mobile robot with a memory of omnidirectional images

J. Courbon, G. Blanc, Y. Mezouar, and P. Martinet, LASMEA, FR

15:00 – 15:20 Combining probabilistic velocity obstacles and occupancy grid for safe navigation in dynamic environments

C. Fulgenzi, A. Spalanazani, and C. Laugier, INRIA, FR

15:20 – 15:40 Path planning, replanning, and execution for autonomous driving in urban and offroad environments

R. Philippsen, S. Kolski, K. Macek, and R. Siegwart, ETHZ, Switzerland

15:40 – 16:00 Coffee Break

Session S4: Planning, Navigation and Control II

16:00 – 16:20 Hybrid steering control for intelligent vehicles navigation

J. Naranjo, J. Vinuesa, C. Gonzalez, R. Garcia, T. Pedro, I. Parra, CSIC, Spain

16:20 – 16:40 Mobile mapping for autonomous navigation in urban areas

P. Bonnifait, M. Jabbour, V. Cherfaoui, G. Dherbomez, U. Tech de Compiègne, FR

16:40 – 17:00 Simultaneous localization and map building radar sensor in extensive outdoor environment: first results

R. Rouveure, P. Checchin, P. Faure, M. Monod, L. Trassoudaine, LASMEA, FR

17:00 – 17:20 Sliding mode control of a mobile robot for dynamic obstacle avoidance based on a time-varying harmonic potential field

A. Ferrara and M. Rubagotti, U. Pavia, Italy

17:20 – 17:40 Adaptive control of a class of MIMO systems using fuzzy logic with applications to tracking control of nonholonomic mobile robots

A. Zou, Z. Hou, Z. Zhao, X. Wang, and M. Tan, Chinese Academy of Sciences, PRC

17:40 – 18:00 Panel Discussion

Invited Talks

Holistic Sensing and Dynamic Displays for “Human-Centric” Active Safety

Mohan M. Trivedi

Laboratory for Intelligent and Safe Automobiles [http://cvrr.ucsd.edu/LISA]

University of California at San Diego

Abstract: The goal of intelligent driver support systems is to provide proper warnings and alarms to the drivers to enhance safe driving. We will discuss multidisciplinary research activities focused on the design and evaluation of new types of Intelligent Driver Support Systems and their components. Systematic efforts to understand and characterize driver behavior and ethnography surrounding the task of driving are essential in the development of human-centric driver assistance systems. Novel instrumented vehicles are used for conducting experiments, where the rich contextual information about vehicle dynamics, surround and driver state are captured for careful, detailed ethnographic studies, as well as realistic data for developing algorithms to analyze multi sensory signals for active safety. In this presentation, we will provide a systems-oriented framework for developing computer vision technology for safer automobiles. We will consider three main components of the system, driver, vehicle, and vehicle surround. We will discuss various issues and ideas for developing models for these main components as well as activities associated with the complex task of safe driving. The presentation will include discussion of novel sensory systems and algorithms for capturing not only the dynamic surround information of the vehicle but also the state, intent and activity patterns of drivers.We will also introduce a new type of visual display called “dynamic active display”. These displays present visual information to the driver where driving view and safety-critical visual icons are presented to the driver in a manner that minimizes deviation of her gaze direction without adding to unnecessary visual clutter. These contributions indicate the basic promise the “human-centric active safety” (HCAS) systems in enhancing the safety and comfort of automobile based travel.

Speaker Bio-Sketch: Mohan Manubhai Trivedi is a Professor of Electrical and Computer Engineering and the founding Director of the Computer Vision and Robotics Research Laboratory at the University of California in San Diego. Trivedi has a broad range of research interests in the intelligent systems, computer vision, intelligent (“smart”) environments, intelligent vehicles and transportation systems and human-machine interfaces areas. In partnership with several automobile companies, he established the Laboratory for Intelligent and Safe Automobiles (“LISA”) at UCSD to pursue a multidisciplinary research agenda. Mohan served on the Executive Committee of the California Inst. for Telecommunication and Information Technologies [Cal-IT2] as the leader of the Intelligent Transportation and Telematics Layer at UCSD and he is elected Vice-Chair of the University of California System Wide UC Discovery Digital Media Program. Mohan serves regularly as a consultant to industry and government agencies in the USA and abroad. Trivedi was the Editor-in-Chief of the Machine Vision and Applications (1996-2004) and is an Editor of the IEEE Transactions on Intelligent Transportation Systems. He served as the Chairman of the Robotics Technical Committee of the IEEE Computer Society and Program Co-Chair of the 2006 IEEE Intelligent Vehicles Symposium. Trivedi has received the Distinguished Alumnus Award from the Utah State University, Pioneer Award (Technical Activities) and Meritorious Service Award from the IEEE Computer Society.

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Cybercars: A Robot for Everyone

Michel Parent

IMARA - INRIA

In order to meet a continuously growing demand for transport, one solution is to change the control approach for vehicle to full driving automation, which removes the driver from the control loop to improve efficiency and reduce accidents. Recent work shows that there are several realistic paths towards this deployment: driving assistance on passenger cars, automated commercial vehicles on dedicated infrastructures, and new forms of urban transport (car-sharing and cybercars). Cybercars are fully automatic vehicles and, in this sense, they are robots capable of sensing their environment, planning their trajectories and executing the driving task. They are also part of a complete transportation system and they must cooperate to optimise the service. This talk will present the state of the art of cybercars and their future.

Speaker Bio-Sketch: Michel Parent is the director of the IMARA Team at INRIA where he has been working over the last 15 years on the development of cybercars and drivers assistance systems. This team is now part of a larger group called LaRA (La Route Automatisée: www.lara.prd.fr). Since 2001, he has been the project leader of several European projects on cybercars. Before INRIA, Michel Parent has been working several years in the USA at MIT, Sanford and Case Western and several years in the robotics industry in France. He was president of the French Robotics Association between 1984 and 1989. He has a PhD in Computer Sciences.

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