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Lane Detection for DEXTER, an Autonomous Robot, in the Urban Challenge

McMichael, Scott Thomas
http://rave.ohiolink.edu/etdc/view?acc_num=case1201273995

Abstract Details

2008, Master of Sciences, Case Western Reserve University, Computer Engineering.
This thesis describes the lane detection system developed for the autonomous robot DEXTER in the 2007 DARPA Urban Challenge. Though DEXTER was capable of navigating purely off of GPS signals, it often needed to drive in areas where GPS navigation could not be trusted completely. In these areas it was necessary to use a method of automatically detecting the lane of travel so that DEXTER could drive properly within it. The developed system functions by merging the outputs of a number of independent road detection modules coming from several sensors into a single drivable output path. This sensor derived path is compared with the map derived path in order to produce an optimal output based on the relative confidences of the two information sources. The full lane detection system is able to adaptively drive according to the best information source and perform well in a variety of diverse driving environments.
Wyatt Newman (Advisor)
108 p.
autonomous robot; DARPA Urban Challenge; lane detection; road detection; computer vision; sensor fusion

Recommended Citations

Citations

  • McMichael, S. T. (2008). Lane Detection for DEXTER, an Autonomous Robot, in the Urban Challenge [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1201273995

    APA Style (7th edition)

  • McMichael, Scott. Lane Detection for DEXTER, an Autonomous Robot, in the Urban Challenge. 2008. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1201273995.

    MLA Style (8th edition)

  • McMichael, Scott. "Lane Detection for DEXTER, an Autonomous Robot, in the Urban Challenge." Master's thesis, Case Western Reserve University, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1201273995

    Chicago Manual of Style (17th edition)

case1201273995
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© 2008, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.