Road following in an unstructured desert environment based on the EM(expectation-maximization) algorithm

2006 SICE-ICASE International Joint Conference

Volumn , Issue , 2006, Pages 2969-2974

  Lee, Jaesang ^a   Crane III, Carl D ^a  

^a J Crayton Pruitt Family Department of Biomedical Engineering   (United States)

Author keywords

Autonomous vehicle; Expectation maximization (EM) algorithm; Image segmentation; Navigation; Vision system

Indexed keywords

AUTONOMOUS VEHICLES; EXPECTATION-MAXIMIZATION (EM) ALGORITHMS; VISION PROCESSING ALGORITHMS;

ALGORITHMS; BAYESIAN NETWORKS; CAMERAS; COMPUTER VISION; IMAGE SEGMENTATION; OPTIMIZATION;

AUTONOMOUS AGENTS;

EID: 34250791392     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/SICE.2006.314963     Document Type: Conference Paper

References (8)

1. Crane, C., Armstrong, D., Touchton, R., Galluzzo, T., Solanki, S., Lee, J., Kent, D., Ahmed, M., Montane, R., Ridgeway, S., Velat, S., Garcia, G., Griffis, M., Gray, S., Washburn, J., "Team CIMAR's NaviGATOR: An Unmanned Ground Vehicle for Application to the 2005 DARPA Grand Challenge," Journal of Field Robotics, 2006
2. Carl D. Crane III, David G. Armstrong, Mel W. Torrie and Sarah A. Gray, "Autonomous Ground Vehicle Technologies Applied to the DARPA Grand Challenge, ICCAS2004, 2004.
3. Jaesang Lee, Carl D. Crane III, Sanggyum Kim and Jungha Kim, "Road Following in an Unstructured Desert Environment using Monocular Color Vision as Applied to the DARPA Grand Challenge", ICCAS2005, 2005.
4. JAUS. (2005). Joint Architecture for Unmanned Systems Reference Architecture, version 3.2: JAUS Working Group (http://www.jauswg.org/).
5. Moon, T.K., "The expectation-maximization algorithm", Signal Processing Magazine, IEEE Volume 13, Issue 6, Nov. 1996 Page(s):47-60
6. "A Gentle Tutorial of the EM Algorithm and its Application to Parameter Estimation for Gaussian Mixture and Hidden Markov Models"
7. Richard O.Duda, Peter E.Hart, David G. Stork, "Pattern Classification" second edition, Wiley-Interscience
8. A. Criminisi, I. Reid, A. Zisserman, "A Plane Measuring Device", http: //www.robots.ox.ac.uk/~vgg/presentations/bmvc97/ criminispaper/